315 lines
8.5 KiB
C
315 lines
8.5 KiB
C
/*
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ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
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This file is part of ChibiOS/RT.
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ChibiOS/RT is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 3 of the License, or
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(at your option) any later version.
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ChibiOS/RT is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <string.h>
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#include <stdio.h>
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#include <ch.h>
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#include <serial.h>
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static uint32_t wdguard;
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static WORKING_AREA(wdarea, 2048);
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static uint32_t cdguard;
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static WORKING_AREA(cdarea, 2048);
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static Thread *cdtp;
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static msg_t WatchdogThread(void *arg);
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static msg_t ConsoleThread(void *arg);
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msg_t TestThread(void *p);
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#define cprint(msg) chMsgSend(cdtp, (msg_t)msg)
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/*
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* Watchdog thread, it checks magic values located under the various stack
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* areas. The system is halted if something is wrong.
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*/
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static msg_t WatchdogThread(void *arg) {
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(void)arg;
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wdguard = 0xA51F2E3D;
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cdguard = 0xA51F2E3D;
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while (TRUE) {
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if ((wdguard != 0xA51F2E3D) ||
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(cdguard != 0xA51F2E3D)) {
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printf("Halted by watchdog");
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fflush(stdout);
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chSysHalt();
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}
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chThdSleep(50);
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}
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return 0;
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}
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/*
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* Console print server done using synchronous messages. This makes the access
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* to the C printf() thread safe and the print operation atomic among threads.
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* In this example the message is the zero termitated string itself.
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*/
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static msg_t ConsoleThread(void *arg) {
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(void)arg;
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while (!chThdShouldTerminate()) {
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printf((char *)chMsgWait());
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fflush(stdout);
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chMsgRelease(RDY_OK);
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}
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return 0;
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}
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static void PrintLineSD(SerialDriver *sd, char *msg) {
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while (*msg)
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sdPut(sd, *msg++);
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}
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static bool_t GetLineFDD(SerialDriver *sd, char *line, int size) {
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char *p = line;
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while (TRUE) {
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short c = chIQGet(&sd->d2.iqueue);
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if (c < 0)
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return TRUE;
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if (c == 4) {
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PrintLineSD(sd, "^D\r\n");
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return TRUE;
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}
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if (c == 8) {
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if (p != line) {
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sdPut(sd, (uint8_t)c);
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sdPut(sd, 0x20);
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sdPut(sd, (uint8_t)c);
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p--;
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}
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continue;
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}
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if (c == '\r') {
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PrintLineSD(sd, "\r\n");
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*p = 0;
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return FALSE;
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}
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if (c < 0x20)
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continue;
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if (p < line + size - 1) {
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sdPut(sd, (uint8_t)c);
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*p++ = (uint8_t)c;
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}
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}
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}
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/*
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* Example thread, not much to see here. It simulates the CTRL-C but there
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* are no real signals involved.
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*/
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static msg_t HelloWorldThread(void *arg) {
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int i;
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short c;
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SerialDriver *sd = (SerialDriver *)arg;
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for (i = 0; i < 10; i++) {
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PrintLineSD(sd, "Hello World\r\n");
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c = sdGetTimeout(sd, 333);
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switch (c) {
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case Q_TIMEOUT:
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continue;
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case Q_RESET:
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return 1;
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case 3:
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PrintLineSD(sd, "^C\r\n");
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return 0;
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default:
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chThdSleep(333);
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}
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}
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return 0;
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}
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static bool_t checkend(SerialDriver *sd) {
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char * lp = strtok(NULL, " \009"); /* It is not thread safe but this is a demo.*/
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if (lp) {
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PrintLineSD(sd, lp);
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PrintLineSD(sd, " ?\r\n");
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return TRUE;
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}
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return FALSE;
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}
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/*
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* Simple command shell thread, the argument is the serial line for the
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* standard input and output. It recognizes few simple commands.
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*/
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static msg_t ShellThread(void *arg) {
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SerialDriver *sd = (SerialDriver *)arg;
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char *lp, line[64];
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Thread *tp;
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WORKING_AREA(tarea, 2048);
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chSysLock();
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chIQResetI(&sd->d2.iqueue);
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chOQResetI(&sd->d2.oqueue);
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chSysUnlock();
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PrintLineSD(sd, "ChibiOS/RT Command Shell\r\n\n");
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while (TRUE) {
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PrintLineSD(sd, "ch> ");
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if (GetLineFDD(sd, line, sizeof(line))) {
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PrintLineSD(sd, "\nlogout");
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break;
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}
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lp = strtok(line, " \009"); // Note: not thread safe but it is just a demo.
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if (lp) {
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if ((stricmp(lp, "help") == 0) ||
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(stricmp(lp, "h") == 0) ||
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(stricmp(lp, "?") == 0)) {
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if (checkend(sd))
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continue;
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PrintLineSD(sd, "Commands:\r\n");
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PrintLineSD(sd, " help,h,? - This help\r\n");
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PrintLineSD(sd, " exit - Logout from ChibiOS/RT\r\n");
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PrintLineSD(sd, " time - Prints the system timer value\r\n");
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PrintLineSD(sd, " hello - Runs the Hello World demo thread\r\n");
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PrintLineSD(sd, " test - Runs the System Test thread\r\n");
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}
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else if (stricmp(lp, "exit") == 0) {
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if (checkend(sd))
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continue;
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PrintLineSD(sd, "\nlogout");
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break;
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}
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else if (stricmp(lp, "time") == 0) {
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if (checkend(sd))
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continue;
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sprintf(line, "Time: %d\r\n", chTimeNow());
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PrintLineSD(sd, line);
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}
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else if (stricmp(lp, "hello") == 0) {
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if (checkend(sd))
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continue;
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tp = chThdCreateStatic(tarea, sizeof(tarea),
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NORMALPRIO, HelloWorldThread, sd);
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if (chThdWait(tp))
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break; // Lost connection while executing the hello thread.
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}
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else if (stricmp(lp, "test") == 0) {
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if (checkend(sd))
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continue;
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tp = chThdCreateStatic(tarea, sizeof(tarea),
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NORMALPRIO, TestThread, arg);
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if (chThdWait(tp))
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break; // Lost connection while executing the hello thread.
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}
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else {
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PrintLineSD(sd, lp);
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PrintLineSD(sd, " ?\r\n");
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}
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}
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}
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return 0;
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}
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static WORKING_AREA(s1area, 4096);
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static Thread *s1;
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EventListener s1tel;
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static void COM1Handler(eventid_t id) {
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sdflags_t flags;
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(void)id;
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if (s1 && chThdTerminated(s1)) {
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s1 = NULL;
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cprint("Init: disconnection on SD1\n");
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}
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flags = sdGetAndClearFlags(&SD1);
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if ((flags & SD_CONNECTED) && (s1 == NULL)) {
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cprint("Init: connection on SD1\n");
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s1 = chThdInit(s1area, sizeof(s1area),
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NORMALPRIO, ShellThread, &SD1);
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chEvtRegister(chThdGetExitEventSource(s1), &s1tel, 0);
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chThdResume(s1);
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}
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if ((flags & SD_DISCONNECTED) && (s1 != NULL)) {
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chSysLock();
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chIQResetI(&SD1.d2.iqueue);
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chSysUnlock();
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}
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}
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static WORKING_AREA(s2area, 4096);
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static Thread *s2;
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EventListener s2tel;
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static void COM2Handler(eventid_t id) {
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sdflags_t flags;
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(void)id;
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if (s2 && chThdTerminated(s2)) {
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s2 = NULL;
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cprint("Init: disconnection on SD2\n");
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}
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flags = sdGetAndClearFlags(&SD2);
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if ((flags & SD_CONNECTED) && (s2 == NULL)) {
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cprint("Init: connection on SD2\n");
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s2 = chThdInit(s2area, sizeof(s1area),
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NORMALPRIO, ShellThread, &SD2);
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chEvtRegister(chThdGetExitEventSource(s2), &s2tel, 1);
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chThdResume(s2);
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}
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if ((flags & SD_DISCONNECTED) && (s2 != NULL)) {
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chSysLock();
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chIQResetI(&SD2.d2.iqueue);
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chSysUnlock();
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}
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}
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static evhandler_t fhandlers[2] = {
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COM1Handler,
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COM2Handler
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};
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/*------------------------------------------------------------------------*
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* Simulator main, start here your threads, examples inside. *
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*------------------------------------------------------------------------*/
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int main(void) {
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EventListener c1fel, c2fel;
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// Startup ChibiOS/RT.
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chSysInit();
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sdStart(&SD1, NULL);
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sdStart(&SD2, NULL);
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chThdCreateStatic(wdarea, sizeof(wdarea), NORMALPRIO + 2, WatchdogThread, NULL);
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cdtp = chThdCreateStatic(cdarea, sizeof(cdarea), NORMALPRIO + 1, ConsoleThread, NULL);
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cprint("Console service started on SD1, SD2\n");
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cprint(" - Listening for connections on SD1\n");
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sdGetAndClearFlags(&SD1);
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chEvtRegister(&SD1.d2.sevent, &c1fel, 0);
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cprint(" - Listening for connections on SD2\n");
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sdGetAndClearFlags(&SD2);
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chEvtRegister(&SD2.d2.sevent, &c2fel, 1);
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while (!chThdShouldTerminate())
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chEvtDispatch(fhandlers, chEvtWaitOne(ALL_EVENTS));
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chEvtUnregister(&SD1.d2.sevent, &c2fel); // Never invoked but this is an example...
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chEvtUnregister(&SD2.d2.sevent, &c1fel); // Never invoked but this is an example...
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return 0;
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}
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