CARPLAY版本整理
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/*
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* FreeRTOS V202104.00
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* Copyright (C) 2017 Amazon.com, Inc. or its affiliates. All Rights Reserved.
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*
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* Permission is hereby granted, free of charge, to any person obtaining a copy of
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* this software and associated documentation files (the "Software"), to deal in
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* the Software without restriction, including without limitation the rights to
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* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
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* the Software, and to permit persons to whom the Software is furnished to do so,
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* subject to the following conditions:
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*
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* The above copyright notice and this permission notice shall be included in all
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* copies or substantial portions of the Software.
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
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* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
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* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
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* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
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* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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*
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* http://www.FreeRTOS.org
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* http://aws.amazon.com/freertos
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*
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* 1 tab == 4 spaces!
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*/
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/*
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* NOTE: This file uses a third party USB CDC driver.
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*/
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/* Standard includes. */
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#include "string.h"
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#include "stdio.h"
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/* FreeRTOS includes. */
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#include "FreeRTOS.h"
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#include "task.h"
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#include "semphr.h"
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/* Example includes. */
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#include "FreeRTOS_CLI.h"
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/* Demo application includes. */
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#include "serial.h"
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/* Dimensions the buffer into which input characters are placed. */
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#define cmdMAX_INPUT_SIZE 50
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/* Dimentions a buffer to be used by the UART driver, if the UART driver uses a
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buffer at all. */
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#define cmdQUEUE_LENGTH 25
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/* DEL acts as a backspace. */
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#define cmdASCII_DEL ( 0x7F )
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/* The maximum time to wait for the mutex that guards the UART to become
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available. */
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#define cmdMAX_MUTEX_WAIT pdMS_TO_TICKS( 300 )
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#ifndef configCLI_BAUD_RATE
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#define configCLI_BAUD_RATE 115200
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#endif
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/*-----------------------------------------------------------*/
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/*
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* The task that implements the command console processing.
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*/
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static void prvUARTCommandConsoleTask( void *pvParameters );
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void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
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/*-----------------------------------------------------------*/
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/* Const messages output by the command console. */
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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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static const char * const pcEndOfOutputMessage = "\r\n[Press ENTER to execute the previous command again]\r\n>";
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static const char * const pcNewLine = "\r\n";
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/* Used to guard access to the UART in case messages are sent to the UART from
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more than one task. */
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static SemaphoreHandle_t xTxMutex = NULL;
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/* The handle to the UART port, which is not used by all ports. */
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static xComPortHandle xPort = 0;
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/*-----------------------------------------------------------*/
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void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority )
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{
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/* Create the semaphore used to access the UART Tx. */
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xTxMutex = xSemaphoreCreateMutex();
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configASSERT( xTxMutex );
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/* Create that task that handles the console itself. */
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xTaskCreate( prvUARTCommandConsoleTask, /* The task that implements the command console. */
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"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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usStackSize, /* The size of the stack allocated to the task. */
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NULL, /* The parameter is not used, so NULL is passed. */
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uxPriority, /* The priority allocated to the task. */
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NULL ); /* A handle is not required, so just pass NULL. */
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}
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/*-----------------------------------------------------------*/
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static void prvUARTCommandConsoleTask( void *pvParameters )
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{
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signed char cRxedChar;
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uint8_t ucInputIndex = 0;
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char *pcOutputString;
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static char cInputString[ cmdMAX_INPUT_SIZE ], cLastInputString[ cmdMAX_INPUT_SIZE ];
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BaseType_t xReturned;
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xComPortHandle xPort;
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( void ) pvParameters;
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/* Obtain the address of the output buffer. Note there is no mutual
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exclusion on this buffer as it is assumed only one command console interface
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will be used at any one time. */
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pcOutputString = FreeRTOS_CLIGetOutputBuffer();
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/* Initialise the UART. */
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xPort = xSerialPortInitMinimal( configCLI_BAUD_RATE, cmdQUEUE_LENGTH );
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/* Send the welcome message. */
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vSerialPutString( xPort, ( signed char * ) pcWelcomeMessage, ( unsigned short ) strlen( pcWelcomeMessage ) );
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for( ;; )
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{
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/* Wait for the next character. The while loop is used in case
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INCLUDE_vTaskSuspend is not set to 1 - in which case portMAX_DELAY will
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be a genuine block time rather than an infinite block time. */
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while( xSerialGetChar( xPort, &cRxedChar, portMAX_DELAY ) != pdPASS );
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/* Ensure exclusive access to the UART Tx. */
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if( xSemaphoreTake( xTxMutex, cmdMAX_MUTEX_WAIT ) == pdPASS )
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{
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/* Echo the character back. */
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xSerialPutChar( xPort, cRxedChar, portMAX_DELAY );
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/* Was it the end of the line? */
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if( cRxedChar == '\n' || cRxedChar == '\r' )
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{
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/* Just to space the output from the input. */
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vSerialPutString( xPort, ( signed char * ) pcNewLine, ( unsigned short ) strlen( pcNewLine ) );
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/* See if the command is empty, indicating that the last command
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is to be executed again. */
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if( ucInputIndex == 0 )
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{
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/* Copy the last command back into the input string. */
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strcpy( cInputString, cLastInputString );
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}
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/* Pass the received command to the command interpreter. The
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command interpreter is called repeatedly until it returns
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pdFALSE (indicating there is no more output) as it might
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generate more than one string. */
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do
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{
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/* Get the next output string from the command interpreter. */
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xReturned = FreeRTOS_CLIProcessCommand( cInputString, pcOutputString, configCOMMAND_INT_MAX_OUTPUT_SIZE );
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/* Write the generated string to the UART. */
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vSerialPutString( xPort, ( signed char * ) pcOutputString, ( unsigned short ) strlen( pcOutputString ) );
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} while( xReturned != pdFALSE );
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/* All the strings generated by the input command have been
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sent. Clear the input string ready to receive the next command.
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Remember the command that was just processed first in case it is
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to be processed again. */
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strcpy( cLastInputString, cInputString );
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ucInputIndex = 0;
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memset( cInputString, 0x00, cmdMAX_INPUT_SIZE );
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vSerialPutString( xPort, ( signed char * ) pcEndOfOutputMessage, ( unsigned short ) strlen( pcEndOfOutputMessage ) );
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}
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else
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{
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if( cRxedChar == '\r' )
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{
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/* Ignore the character. */
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}
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else if( ( cRxedChar == '\b' ) || ( cRxedChar == cmdASCII_DEL ) )
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{
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/* Backspace was pressed. Erase the last character in the
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string - if any. */
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if( ucInputIndex > 0 )
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{
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ucInputIndex--;
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cInputString[ ucInputIndex ] = '\0';
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}
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}
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else
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{
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/* A character was entered. Add it to the string entered so
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far. When a \n is entered the complete string will be
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passed to the command interpreter. */
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if( ( cRxedChar >= ' ' ) && ( cRxedChar <= '~' ) )
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{
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if( ucInputIndex < cmdMAX_INPUT_SIZE )
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{
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cInputString[ ucInputIndex ] = cRxedChar;
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ucInputIndex++;
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}
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}
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}
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}
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/* Must ensure to give the mutex back. */
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xSemaphoreGive( xTxMutex );
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}
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}
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}
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/*-----------------------------------------------------------*/
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void vOutputString( const char * const pcMessage )
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{
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if( xSemaphoreTake( xTxMutex, cmdMAX_MUTEX_WAIT ) == pdPASS )
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{
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vSerialPutString( xPort, ( signed char * ) pcMessage, ( unsigned short ) strlen( pcMessage ) );
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xSemaphoreGive( xTxMutex );
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}
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}
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/*-----------------------------------------------------------*/
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