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/*
ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
This file is part of ChibiOS/RT.
ChibiOS/RT is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 3 of the License, or
(at your option) any later version.
ChibiOS/RT is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <string.h>
#include <stdio.h>
#include <ch.h>
static uint32_t wdguard;
static WORKING_AREA(wdarea, 2048);
static uint32_t cdguard;
static WORKING_AREA(cdarea, 2048);
static Thread *cdtp;
static msg_t WatchdogThread(void *arg);
static msg_t ConsoleThread(void *arg);
msg_t TestThread(void *p);
extern FullDuplexDriver COM1, COM2;
#define cprint(msg) chMsgSend(cdtp, (msg_t)msg)
/*
* Watchdog thread, it checks magic values located under the various stack
* areas. The system is halted if something is wrong.
*/
static msg_t WatchdogThread(void *arg) {
wdguard = 0xA51F2E3D;
cdguard = 0xA51F2E3D;
while (TRUE) {
if ((wdguard != 0xA51F2E3D) ||
(cdguard != 0xA51F2E3D)) {
printf("Halted by watchdog");
fflush(stdout);
chSysHalt();
}
chThdSleep(50);
}
return 0;
}
/*
* Console print server done using synchronous messages. This makes the access
* to the C printf() thread safe and the print operation atomic among threads.
* In this example the message is the zero termitated string itself.
*/
static msg_t ConsoleThread(void *arg) {
while (!chThdShouldTerminate()) {
printf((char *)chMsgWait());
fflush(stdout);
chMsgRelease(RDY_OK);
}
return 0;
}
static void PrintLineFDD(FullDuplexDriver *sd, char *msg) {
while (*msg)
chFDDPut(sd, *msg++);
}
static bool_t GetLineFDD(FullDuplexDriver *sd, char *line, int size) {
char *p = line;
while (TRUE) {
short c = chIQGet(&sd->sd_iqueue);
if (c < 0)
return TRUE;
if (c == 4) {
PrintLineFDD(sd, "^D\r\n");
return TRUE;
}
if (c == 8) {
if (p != line) {
chFDDPut(sd, (uint8_t)c);
chFDDPut(sd, 0x20);
chFDDPut(sd, (uint8_t)c);
p--;
}
continue;
}
if (c == '\r') {
PrintLineFDD(sd, "\r\n");
*p = 0;
return FALSE;
}
if (c < 0x20)
continue;
if (p < line + size - 1) {
chFDDPut(sd, (uint8_t)c);
*p++ = (uint8_t)c;
}
}
}
/*
* Example thread, not much to see here. It simulates the CTRL-C but there
* are no real signals involved.
*/
static msg_t HelloWorldThread(void *arg) {
int i;
short c;
FullDuplexDriver *sd = (FullDuplexDriver *)arg;
for (i = 0; i < 100; i++) {
PrintLineFDD(sd, "Hello World\r\n");
c = chFDDGetTimeout(sd, 333);
switch (c) {
case Q_TIMEOUT:
continue;
case Q_RESET:
return 1;
case 3:
PrintLineFDD(sd, "^C\r\n");
return 0;
default:
chThdSleep(333);
}
}
return 0;
}
static bool_t checkend(FullDuplexDriver *sd) {
char * lp = strtok(NULL, " \009"); /* It is not thread safe but this is a demo.*/
if (lp) {
PrintLineFDD(sd, lp);
PrintLineFDD(sd, " ?\r\n");
return TRUE;
}
return FALSE;
}
/*
* Simple command shell thread, the argument is the serial line for the
* standard input and output. It recognizes few simple commands.
*/
static msg_t ShellThread(void *arg) {
FullDuplexDriver *sd = (FullDuplexDriver *)arg;
char *lp, line[64];
Thread *tp;
WORKING_AREA(tarea, 2048);
chIQReset(&sd->sd_iqueue);
chOQReset(&sd->sd_oqueue);
PrintLineFDD(sd, "ChibiOS/RT Command Shell\r\n\n");
while (TRUE) {
PrintLineFDD(sd, "ch> ");
if (GetLineFDD(sd, line, sizeof(line))) {
PrintLineFDD(sd, "\nlogout");
break;
}
lp = strtok(line, " \009"); // Note: not thread safe but it is just a demo.
if (lp) {
if ((stricmp(lp, "help") == 0) ||
(stricmp(lp, "h") == 0) ||
(stricmp(lp, "?") == 0)) {
if (checkend(sd))
continue;
PrintLineFDD(sd, "Commands:\r\n");
PrintLineFDD(sd, " help,h,? - This help\r\n");
PrintLineFDD(sd, " exit - Logout from ChibiOS/RT\r\n");
PrintLineFDD(sd, " time - Prints the system timer value\r\n");
PrintLineFDD(sd, " hello - Runs the Hello World demo thread\r\n");
PrintLineFDD(sd, " test - Runs the System Test thread\r\n");
}
else if (stricmp(lp, "exit") == 0) {
if (checkend(sd))
continue;
PrintLineFDD(sd, "\nlogout");
break;
}
else if (stricmp(lp, "time") == 0) {
if (checkend(sd))
continue;
sprintf(line, "Time: %d\r\n", chSysGetTime());
PrintLineFDD(sd, line);
}
else if (stricmp(lp, "hello") == 0) {
if (checkend(sd))
continue;
tp = chThdCreateStatic(tarea, sizeof(tarea),
NORMALPRIO, HelloWorldThread, sd);
if (chThdWait(tp))
break; // Lost connection while executing the hello thread.
}
else if (stricmp(lp, "test") == 0) {
if (checkend(sd))
continue;
tp = chThdCreateStatic(tarea, sizeof(tarea),
NORMALPRIO, TestThread, arg);
if (chThdWait(tp))
break; // Lost connection while executing the hello thread.
}
else {
PrintLineFDD(sd, lp);
PrintLineFDD(sd, " ?\r\n");
}
}
}
return 0;
}
static WORKING_AREA(s1area, 4096);
static Thread *s1;
EventListener s1tel;
static void COM1Handler(eventid_t id) {
dflags_t flags;
if (s1 && chThdTerminated(s1)) {
s1 = NULL;
cprint("Init: disconnection on COM1\n");
}
flags = chFDDGetAndClearFlags(&COM1);
if ((flags & SD_CONNECTED) && (s1 == NULL)) {
cprint("Init: connection on COM1\n");
s1 = chThdInit(s1area, sizeof(s1area),
NORMALPRIO, ShellThread, &COM1);
chEvtRegister(chThdGetExitEventSource(s1), &s1tel, 0);
chThdResume(s1);
}
if ((flags & SD_DISCONNECTED) && (s1 != NULL))
chIQReset(&COM1.sd_iqueue);
}
static WORKING_AREA(s2area, 4096);
static Thread *s2;
EventListener s2tel;
static void COM2Handler(eventid_t id) {
dflags_t flags;
if (s2 && chThdTerminated(s2)) {
s2 = NULL;
cprint("Init: disconnection on COM2\n");
}
flags = chFDDGetAndClearFlags(&COM2);
if ((flags & SD_CONNECTED) && (s2 == NULL)) {
cprint("Init: connection on COM2\n");
s2 = chThdInit(s2area, sizeof(s1area),
NORMALPRIO, ShellThread, &COM2);
chEvtRegister(chThdGetExitEventSource(s2), &s2tel, 1);
chThdResume(s2);
}
if ((flags & SD_DISCONNECTED) && (s2 != NULL))
chIQReset(&COM2.sd_iqueue);
}
static evhandler_t fhandlers[2] = {
COM1Handler,
COM2Handler
};
/*------------------------------------------------------------------------*
* Simulator main, start here your threads, examples inside. *
*------------------------------------------------------------------------*/
int main(void) {
EventListener c1fel, c2fel;
// Startup ChibiOS/RT.
chSysInit();
chThdCreateStatic(wdarea, sizeof(wdarea), NORMALPRIO + 2, WatchdogThread, NULL);
cdtp = chThdCreateStatic(cdarea, sizeof(cdarea), NORMALPRIO + 1, ConsoleThread, NULL);
cprint("Console service started on COM1, COM2\n");
cprint(" - Listening for connections on COM1\n");
chFDDGetAndClearFlags(&COM1);
chEvtRegister(&COM1.sd_sevent, &c1fel, 0);
cprint(" - Listening for connections on COM2\n");
chFDDGetAndClearFlags(&COM2);
chEvtRegister(&COM2.sd_sevent, &c2fel, 1);
while (!chThdShouldTerminate())
chEvtDispatch(fhandlers, chEvtWaitOne(ALL_EVENTS));
chEvtUnregister(&COM2.sd_sevent, &c2fel); // Never invoked but this is an example...
chEvtUnregister(&COM1.sd_sevent, &c1fel); // Never invoked but this is an example...
return 0;
}
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