From 27e1398be3821f814aee4eaf7627b2d8fb5c4934 Mon Sep 17 00:00:00 2001
From: Giovanni Di Sirio <gdisirio@gmail.com>
Date: Sat, 20 Feb 2016 13:51:02 +0000
Subject: Shell reorganization.
git-svn-id: svn://svn.code.sf.net/p/chibios/svn/trunk@8913 35acf78f-673a-0410-8e92-d51de3d6d3f4
---
os/common/oslib/include/chdynamic.h | 2 +
os/common/oslib/src/chdynamic.c | 35 ++++
os/hal/lib/streams/streams.mk | 6 +
os/various/cpp_wrappers/chcpp.mk | 6 +-
os/various/fatfs_bindings/fatfs.mk | 10 +-
os/various/lwip_bindings/lwip.mk | 72 ++++----
os/various/shell.c | 274 -------------------------------
os/various/shell.h | 82 ---------
os/various/shell/shell.c | 248 ++++++++++++++++++++++++++++
os/various/shell/shell.h | 110 +++++++++++++
os/various/shell/shell.mk | 5 +
os/various/shell/shell_cmd.c | 193 ++++++++++++++++++++++
os/various/shell/shell_cmd.h | 106 ++++++++++++
testhal/STM32/STM32F7xx/USB_CDC/Makefile | 9 +-
testhal/STM32/STM32F7xx/USB_CDC/main.c | 59 +------
15 files changed, 755 insertions(+), 462 deletions(-)
create mode 100644 os/hal/lib/streams/streams.mk
delete mode 100644 os/various/shell.c
delete mode 100644 os/various/shell.h
create mode 100644 os/various/shell/shell.c
create mode 100644 os/various/shell/shell.h
create mode 100644 os/various/shell/shell.mk
create mode 100644 os/various/shell/shell_cmd.c
create mode 100644 os/various/shell/shell_cmd.h
diff --git a/os/common/oslib/include/chdynamic.h b/os/common/oslib/include/chdynamic.h
index fa00bd83e..35b47cd93 100644
--- a/os/common/oslib/include/chdynamic.h
+++ b/os/common/oslib/include/chdynamic.h
@@ -74,10 +74,12 @@ extern "C" {
#if CH_CFG_USE_HEAP == TRUE
thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
tprio_t prio, tfunc_t pf, void *arg);
+ void chThdFreeToHeap(thread_t *tp);
#endif
#if CH_CFG_USE_MEMPOOLS == TRUE
thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, tprio_t prio,
tfunc_t pf, void *arg);
+ void chThdFreeToMemoryPool(thread_t *tp, memory_pool_t *mp);
#endif
#ifdef __cplusplus
}
diff --git a/os/common/oslib/src/chdynamic.c b/os/common/oslib/src/chdynamic.c
index 7d8b609be..80555a928 100644
--- a/os/common/oslib/src/chdynamic.c
+++ b/os/common/oslib/src/chdynamic.c
@@ -96,6 +96,23 @@ thread_t *chThdCreateFromHeap(memory_heap_t *heapp, size_t size,
return chThdCreateStatic(wsp, size, prio, pf, arg);
}
+
+/**
+ * @brief Releases a thread working area into the owner heap.
+ * @pre The thread must have been created using @p chThdCreateFromHeap().
+ * @pre The thread must be in the state @p CH_STATE_FINAL (terminated).
+ *
+ * @param[in] tp the pointer to the thread
+ *
+ * @api
+ */
+void chThdFreeToHeap(thread_t *tp) {
+
+ chDbgCheck(tp != NULL);
+ chDbgAssert(tp->state == CH_STATE_FINAL, "not terminated");
+
+ chHeapFree(chthdGetStackLimitX(tp));
+}
#endif /* CH_CFG_USE_HEAP == TRUE */
#if (CH_CFG_USE_MEMPOOLS == TRUE) || defined(__DOXYGEN__)
@@ -143,6 +160,24 @@ thread_t *chThdCreateFromMemoryPool(memory_pool_t *mp, tprio_t prio,
return chThdCreateStatic(wsp, mp->object_size, prio, pf, arg);
}
+
+/**
+ * @brief Releases a thread working area into a memory pool.
+ * @pre The thread must have been created using @p chThdCreateFromMemoryPool().
+ * @pre The thread must be in the state @p CH_STATE_FINAL (terminated).
+ *
+ * @param[in] tp the pointer to the thread
+ * @param[in] mp pointer to a @p memory_pool_t structure
+ *
+ * @api
+ */
+void chThdFreeToMemoryPool(thread_t *tp, memory_pool_t *mp) {
+
+ chDbgCheck((tp != NULL) && (mp != NULL));
+ chDbgAssert(tp->state == CH_STATE_FINAL, "not terminated");
+
+ chPoolFree(mp, (void *)chthdGetStackLimitX(tp));
+}
#endif /* CH_CFG_USE_MEMPOOLS == TRUE */
#endif /* CH_CFG_USE_DYNAMIC == TRUE */
diff --git a/os/hal/lib/streams/streams.mk b/os/hal/lib/streams/streams.mk
new file mode 100644
index 000000000..fee61e1fe
--- /dev/null
+++ b/os/hal/lib/streams/streams.mk
@@ -0,0 +1,6 @@
+# RT Shell files.
+STREAMSSRC = $(CHIBIOS)/os/hal/lib/streams/chprintf.c \
+ $(CHIBIOS)/os/hal/lib/streams/memstreams.c \
+ $(CHIBIOS)/os/hal/lib/streams/nullstreams.c
+
+STREAMSINC = $(CHIBIOS)/os/hal/lib/streams
diff --git a/os/various/cpp_wrappers/chcpp.mk b/os/various/cpp_wrappers/chcpp.mk
index 9eb4885bc..64f931586 100644
--- a/os/various/cpp_wrappers/chcpp.mk
+++ b/os/various/cpp_wrappers/chcpp.mk
@@ -1,5 +1,5 @@
# C++ wrapper files.
-CHCPPSRC = ${CHIBIOS}/os/various/cpp_wrappers/ch.cpp \
- ${CHIBIOS}/os/various/cpp_wrappers/syscalls_cpp.cpp
+CHCPPSRC = $(CHIBIOS)/os/various/cpp_wrappers/ch.cpp \
+ $(CHIBIOS)/os/various/cpp_wrappers/syscalls_cpp.cpp
-CHCPPINC = ${CHIBIOS}/os/various/cpp_wrappers
+CHCPPINC = $(CHIBIOS)/os/various/cpp_wrappers
diff --git a/os/various/fatfs_bindings/fatfs.mk b/os/various/fatfs_bindings/fatfs.mk
index d395db860..b5441d026 100644
--- a/os/various/fatfs_bindings/fatfs.mk
+++ b/os/various/fatfs_bindings/fatfs.mk
@@ -1,7 +1,7 @@
# FATFS files.
-FATFSSRC = ${CHIBIOS}/os/various/fatfs_bindings/fatfs_diskio.c \
- ${CHIBIOS}/os/various/fatfs_bindings/fatfs_syscall.c \
- ${CHIBIOS}/ext/fatfs/src/ff.c \
- ${CHIBIOS}/ext/fatfs/src/option/unicode.c
+FATFSSRC = $(CHIBIOS)/os/various/fatfs_bindings/fatfs_diskio.c \
+ $(CHIBIOS)/os/various/fatfs_bindings/fatfs_syscall.c \
+ $(CHIBIOS)/ext/fatfs/src/ff.c \
+ $(CHIBIOS)/ext/fatfs/src/option/unicode.c
-FATFSINC = ${CHIBIOS}/ext/fatfs/src
+FATFSINC = $(CHIBIOS)/ext/fatfs/src
diff --git a/os/various/lwip_bindings/lwip.mk b/os/various/lwip_bindings/lwip.mk
index afaaf1454..2ab332a09 100644
--- a/os/various/lwip_bindings/lwip.mk
+++ b/os/various/lwip_bindings/lwip.mk
@@ -1,54 +1,54 @@
# List of the required lwIP files.
-LWIP = ${CHIBIOS}/ext/lwip
+LWIP = $(CHIBIOS)/ext/lwip
LWBINDSRC = \
$(CHIBIOS)/os/various/lwip_bindings/lwipthread.c \
$(CHIBIOS)/os/various/lwip_bindings/arch/sys_arch.c
LWNETIFSRC = \
- ${LWIP}/src/netif/etharp.c
+ $(LWIP)/src/netif/etharp.c
LWCORESRC = \
- ${LWIP}/src/core/dhcp.c \
- ${LWIP}/src/core/dns.c \
- ${LWIP}/src/core/init.c \
- ${LWIP}/src/core/mem.c \
- ${LWIP}/src/core/memp.c \
- ${LWIP}/src/core/netif.c \
- ${LWIP}/src/core/pbuf.c \
- ${LWIP}/src/core/raw.c \
- ${LWIP}/src/core/stats.c \
- ${LWIP}/src/core/sys.c \
- ${LWIP}/src/core/tcp.c \
- ${LWIP}/src/core/tcp_in.c \
- ${LWIP}/src/core/tcp_out.c \
- ${LWIP}/src/core/udp.c
+ $(LWIP)/src/core/dhcp.c \
+ $(LWIP)/src/core/dns.c \
+ $(LWIP)/src/core/init.c \
+ $(LWIP)/src/core/mem.c \
+ $(LWIP)/src/core/memp.c \
+ $(LWIP)/src/core/netif.c \
+ $(LWIP)/src/core/pbuf.c \
+ $(LWIP)/src/core/raw.c \
+ $(LWIP)/src/core/stats.c \
+ $(LWIP)/src/core/sys.c \
+ $(LWIP)/src/core/tcp.c \
+ $(LWIP)/src/core/tcp_in.c \
+ $(LWIP)/src/core/tcp_out.c \
+ $(LWIP)/src/core/udp.c
LWIPV4SRC = \
- ${LWIP}/src/core/ipv4/autoip.c \
- ${LWIP}/src/core/ipv4/icmp.c \
- ${LWIP}/src/core/ipv4/igmp.c \
- ${LWIP}/src/core/ipv4/inet.c \
- ${LWIP}/src/core/ipv4/inet_chksum.c \
- ${LWIP}/src/core/ipv4/ip.c \
- ${LWIP}/src/core/ipv4/ip_addr.c \
- ${LWIP}/src/core/ipv4/ip_frag.c \
- ${LWIP}/src/core/def.c \
- ${LWIP}/src/core/timers.c
+ $(LWIP)/src/core/ipv4/autoip.c \
+ $(LWIP)/src/core/ipv4/icmp.c \
+ $(LWIP)/src/core/ipv4/igmp.c \
+ $(LWIP)/src/core/ipv4/inet.c \
+ $(LWIP)/src/core/ipv4/inet_chksum.c \
+ $(LWIP)/src/core/ipv4/ip.c \
+ $(LWIP)/src/core/ipv4/ip_addr.c \
+ $(LWIP)/src/core/ipv4/ip_frag.c \
+ $(LWIP)/src/core/def.c \
+ $(LWIP)/src/core/timers.c
LWAPISRC = \
- ${LWIP}/src/api/api_lib.c \
- ${LWIP}/src/api/api_msg.c \
- ${LWIP}/src/api/err.c \
- ${LWIP}/src/api/netbuf.c \
- ${LWIP}/src/api/netdb.c \
- ${LWIP}/src/api/netifapi.c \
- ${LWIP}/src/api/sockets.c \
- ${LWIP}/src/api/tcpip.c
+ $(LWIP)/src/api/api_lib.c \
+ $(LWIP)/src/api/api_msg.c \
+ $(LWIP)/src/api/err.c \
+ $(LWIP)/src/api/netbuf.c \
+ $(LWIP)/src/api/netdb.c \
+ $(LWIP)/src/api/netifapi.c \
+ $(LWIP)/src/api/sockets.c \
+ $(LWIP)/src/api/tcpip.c
LWSRC = $(LWBINDSRC) $(LWNETIFSRC) $(LWCORESRC) $(LWIPV4SRC) $(LWAPISRC)
LWINC = \
$(CHIBIOS)/os/various/lwip_bindings \
- ${LWIP}/src/include \
- ${LWIP}/src/include/ipv4
+ $(LWIP)/src/include \
+ $(LWIP)/src/include/ipv4
diff --git a/os/various/shell.c b/os/various/shell.c
deleted file mode 100644
index a60f9b479..000000000
--- a/os/various/shell.c
+++ /dev/null
@@ -1,274 +0,0 @@
-/*
- ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
-
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
-
- http://www.apache.org/licenses/LICENSE-2.0
-
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
-*/
-
-/**
- * @file shell.c
- * @brief Simple CLI shell code.
- *
- * @addtogroup SHELL
- * @{
- */
-
-#include <string.h>
-
-#include "ch.h"
-#include "hal.h"
-#include "shell.h"
-#include "chprintf.h"
-
-/**
- * @brief Shell termination event source.
- */
-event_source_t shell_terminated;
-
-static char *_strtok(char *str, const char *delim, char **saveptr) {
- char *token;
- if (str)
- *saveptr = str;
- token = *saveptr;
-
- if (!token)
- return NULL;
-
- token += strspn(token, delim);
- *saveptr = strpbrk(token, delim);
- if (*saveptr)
- *(*saveptr)++ = '\0';
-
- return *token ? token : NULL;
-}
-
-static void usage(BaseSequentialStream *chp, char *p) {
-
- chprintf(chp, "Usage: %s\r\n", p);
-}
-
-static void list_commands(BaseSequentialStream *chp, const ShellCommand *scp) {
-
- while (scp->sc_name != NULL) {
- chprintf(chp, "%s ", scp->sc_name);
- scp++;
- }
-}
-
-static void cmd_info(BaseSequentialStream *chp, int argc, char *argv[]) {
-
- (void)argv;
- if (argc > 0) {
- usage(chp, "info");
- return;
- }
-
- chprintf(chp, "Kernel: %s\r\n", CH_KERNEL_VERSION);
-#ifdef PORT_COMPILER_NAME
- chprintf(chp, "Compiler: %s\r\n", PORT_COMPILER_NAME);
-#endif
- chprintf(chp, "Architecture: %s\r\n", PORT_ARCHITECTURE_NAME);
-#ifdef PORT_CORE_VARIANT_NAME
- chprintf(chp, "Core Variant: %s\r\n", PORT_CORE_VARIANT_NAME);
-#endif
-#ifdef PORT_INFO
- chprintf(chp, "Port Info: %s\r\n", PORT_INFO);
-#endif
-#ifdef PLATFORM_NAME
- chprintf(chp, "Platform: %s\r\n", PLATFORM_NAME);
-#endif
-#ifdef BOARD_NAME
- chprintf(chp, "Board: %s\r\n", BOARD_NAME);
-#endif
-#ifdef __DATE__
-#ifdef __TIME__
- chprintf(chp, "Build time: %s%s%s\r\n", __DATE__, " - ", __TIME__);
-#endif
-#endif
-}
-
-static void cmd_systime(BaseSequentialStream *chp, int argc, char *argv[]) {
-
- (void)argv;
- if (argc > 0) {
- usage(chp, "systime");
- return;
- }
- chprintf(chp, "%lu\r\n", (unsigned long)chVTGetSystemTime());
-}
-
-/**
- * @brief Array of the default commands.
- */
-static ShellCommand local_commands[] = {
- {"info", cmd_info},
- {"systime", cmd_systime},
- {NULL, NULL}
-};
-
-static bool cmdexec(const ShellCommand *scp, BaseSequentialStream *chp,
- char *name, int argc, char *argv[]) {
-
- while (scp->sc_name != NULL) {
- if (strcmp(scp->sc_name, name) == 0) {
- scp->sc_function(chp, argc, argv);
- return false;
- }
- scp++;
- }
- return true;
-}
-
-/**
- * @brief Shell thread function.
- *
- * @param[in] p pointer to a @p BaseSequentialStream object
- */
-THD_FUNCTION(shellThread, p) {
- int n;
- BaseSequentialStream *chp = ((ShellConfig *)p)->sc_channel;
- const ShellCommand *scp = ((ShellConfig *)p)->sc_commands;
- char *lp, *cmd, *tokp, line[SHELL_MAX_LINE_LENGTH];
- char *args[SHELL_MAX_ARGUMENTS + 1];
-
- chRegSetThreadName("shell");
- chprintf(chp, "\r\nChibiOS/RT Shell\r\n");
- while (true) {
- chprintf(chp, "ch> ");
- if (shellGetLine(chp, line, sizeof(line))) {
- chprintf(chp, "\r\nlogout");
- break;
- }
- lp = _strtok(line, " \t", &tokp);
- cmd = lp;
- n = 0;
- while ((lp = _strtok(NULL, " \t", &tokp)) != NULL) {
- if (n >= SHELL_MAX_ARGUMENTS) {
- chprintf(chp, "too many arguments\r\n");
- cmd = NULL;
- break;
- }
- args[n++] = lp;
- }
- args[n] = NULL;
- if (cmd != NULL) {
- if (strcmp(cmd, "exit") == 0) {
- if (n > 0) {
- usage(chp, "exit");
- continue;
- }
- break;
- }
- else if (strcmp(cmd, "help") == 0) {
- if (n > 0) {
- usage(chp, "help");
- continue;
- }
- chprintf(chp, "Commands: help exit ");
- list_commands(chp, local_commands);
- if (scp != NULL)
- list_commands(chp, scp);
- chprintf(chp, "\r\n");
- }
- else if (cmdexec(local_commands, chp, cmd, n, args) &&
- ((scp == NULL) || cmdexec(scp, chp, cmd, n, args))) {
- chprintf(chp, "%s", cmd);
- chprintf(chp, " ?\r\n");
- }
- }
- }
- shellExit(MSG_OK);
-}
-
-/**
- * @brief Shell manager initialization.
- *
- * @api
- */
-void shellInit(void) {
-
- chEvtObjectInit(&shell_terminated);
-}
-
-/**
- * @brief Terminates the shell.
- * @note Must be invoked from the command handlers.
- * @note Does not return.
- *
- * @param[in] msg shell exit code
- *
- * @api
- */
-void shellExit(msg_t msg) {
-
- /* Atomically broadcasting the event source and terminating the thread,
- there is not a chSysUnlock() because the thread terminates upon return.*/
- chSysLock();
- chEvtBroadcastI(&shell_terminated);
- chThdExitS(msg);
-}
-
-/**
- * @brief Reads a whole line from the input channel.
- * @note Input chars are echoed on the same stream object with the
- * following exceptions:
- * - DEL and BS are echoed as BS-SPACE-BS.
- * - CR is echoed as CR-LF.
- * - 0x4 is echoed as "^D".
- * - Other values below 0x20 are not echoed.
- * .
- *
- * @param[in] chp pointer to a @p BaseSequentialStream object
- * @param[in] line pointer to the line buffer
- * @param[in] size buffer maximum length
- * @return The operation status.
- * @retval true the channel was reset or CTRL-D pressed.
- * @retval false operation successful.
- *
- * @api
- */
-bool shellGetLine(BaseSequentialStream *chp, char *line, unsigned size) {
- char *p = line;
-
- while (true) {
- char c;
-
- if (chSequentialStreamRead(chp, (uint8_t *)&c, 1) == 0)
- return true;
- if (c == 4) {
- chprintf(chp, "^D");
- return true;
- }
- if ((c == 8) || (c == 127)) {
- if (p != line) {
- chSequentialStreamPut(chp, c);
- chSequentialStreamPut(chp, 0x20);
- chSequentialStreamPut(chp, c);
- p--;
- }
- continue;
- }
- if (c == '\r') {
- chprintf(chp, "\r\n");
- *p = 0;
- return false;
- }
- if (c < 0x20)
- continue;
- if (p < line + size - 1) {
- chSequentialStreamPut(chp, c);
- *p++ = (char)c;
- }
- }
-}
-
-/** @} */
diff --git a/os/various/shell.h b/os/various/shell.h
deleted file mode 100644
index 9ee73d4dc..000000000
--- a/os/various/shell.h
+++ /dev/null
@@ -1,82 +0,0 @@
-/*
- ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
-
- Licensed under the Apache License, Version 2.0 (the "License");
- you may not use this file except in compliance with the License.
- You may obtain a copy of the License at
-
- http://www.apache.org/licenses/LICENSE-2.0
-
- Unless required by applicable law or agreed to in writing, software
- distributed under the License is distributed on an "AS IS" BASIS,
- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- See the License for the specific language governing permissions and
- limitations under the License.
-*/
-
-/**
- * @file shell.h
- * @brief Simple CLI shell header.
- *
- * @addtogroup SHELL
- * @{
- */
-
-#ifndef _SHELL_H_
-#define _SHELL_H_
-
-/**
- * @brief Shell maximum input line length.
- */
-#if !defined(SHELL_MAX_LINE_LENGTH) || defined(__DOXYGEN__)
-#define SHELL_MAX_LINE_LENGTH 64
-#endif
-
-/**
- * @brief Shell maximum arguments per command.
- */
-#if !defined(SHELL_MAX_ARGUMENTS) || defined(__DOXYGEN__)
-#define SHELL_MAX_ARGUMENTS 4
-#endif
-
-/**
- * @brief Command handler function type.
- */
-typedef void (*shellcmd_t)(BaseSequentialStream *chp, int argc, char *argv[]);
-
-/**
- * @brief Custom command entry type.
- */
-typedef struct {
- const char *sc_name; /**< @brief Command name. */
- shellcmd_t sc_function; /**< @brief Command function. */
-} ShellCommand;
-
-/**
- * @brief Shell descriptor type.
- */
-typedef struct {
- BaseSequentialStream *sc_channel; /**< @brief I/O channel associated
- to the shell. */
- const ShellCommand *sc_commands; /**< @brief Shell extra commands
- table. */
-} ShellConfig;
-
-#if !defined(__DOXYGEN__)
-extern event_source_t shell_terminated;
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
- void shellInit(void);
- THD_FUNCTION(shellThread, p);
- void shellExit(msg_t msg);
- bool shellGetLine(BaseSequentialStream *chp, char *line, unsigned size);
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* _SHELL_H_ */
-
-/** @} */
diff --git a/os/various/shell/shell.c b/os/various/shell/shell.c
new file mode 100644
index 000000000..379b6ddf0
--- /dev/null
+++ b/os/various/shell/shell.c
@@ -0,0 +1,248 @@
+/*
+ ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file shell.c
+ * @brief Simple CLI shell code.
+ *
+ * @addtogroup SHELL
+ * @{
+ */
+
+#include <string.h>
+
+#include "ch.h"
+#include "hal.h"
+#include "shell.h"
+#include "shell_cmd.h"
+#include "chprintf.h"
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/**
+ * @brief Shell termination event source.
+ */
+event_source_t shell_terminated;
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+static char *_strtok(char *str, const char *delim, char **saveptr) {
+ char *token;
+ if (str)
+ *saveptr = str;
+ token = *saveptr;
+
+ if (!token)
+ return NULL;
+
+ token += strspn(token, delim);
+ *saveptr = strpbrk(token, delim);
+ if (*saveptr)
+ *(*saveptr)++ = '\0';
+
+ return *token ? token : NULL;
+}
+
+static void usage(BaseSequentialStream *chp, char *p) {
+
+ chprintf(chp, "Usage: %s\r\n", p);
+}
+
+static void list_commands(BaseSequentialStream *chp, const ShellCommand *scp) {
+
+ while (scp->sc_name != NULL) {
+ chprintf(chp, "%s ", scp->sc_name);
+ scp++;
+ }
+}
+
+static bool cmdexec(const ShellCommand *scp, BaseSequentialStream *chp,
+ char *name, int argc, char *argv[]) {
+
+ while (scp->sc_name != NULL) {
+ if (strcmp(scp->sc_name, name) == 0) {
+ scp->sc_function(chp, argc, argv);
+ return false;
+ }
+ scp++;
+ }
+ return true;
+}
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Shell thread function.
+ *
+ * @param[in] p pointer to a @p BaseSequentialStream object
+ */
+THD_FUNCTION(shellThread, p) {
+ int n;
+ BaseSequentialStream *chp = ((ShellConfig *)p)->sc_channel;
+ const ShellCommand *scp = ((ShellConfig *)p)->sc_commands;
+ char *lp, *cmd, *tokp, line[SHELL_MAX_LINE_LENGTH];
+ char *args[SHELL_MAX_ARGUMENTS + 1];
+
+ chRegSetThreadName("shell");
+ chprintf(chp, "\r\nChibiOS/RT Shell\r\n");
+ while (true) {
+ chprintf(chp, "ch> ");
+ if (shellGetLine(chp, line, sizeof(line))) {
+ chprintf(chp, "\r\nlogout");
+ break;
+ }
+ lp = _strtok(line, " \t", &tokp);
+ cmd = lp;
+ n = 0;
+ while ((lp = _strtok(NULL, " \t", &tokp)) != NULL) {
+ if (n >= SHELL_MAX_ARGUMENTS) {
+ chprintf(chp, "too many arguments\r\n");
+ cmd = NULL;
+ break;
+ }
+ args[n++] = lp;
+ }
+ args[n] = NULL;
+ if (cmd != NULL) {
+ if (strcmp(cmd, "exit") == 0) {
+ if (n > 0) {
+ usage(chp, "exit");
+ continue;
+ }
+ break;
+ }
+ else if (strcmp(cmd, "help") == 0) {
+ if (n > 0) {
+ usage(chp, "help");
+ continue;
+ }
+ chprintf(chp, "Commands: help exit ");
+ list_commands(chp, shell_local_commands);
+ if (scp != NULL)
+ list_commands(chp, scp);
+ chprintf(chp, "\r\n");
+ }
+ else if (cmdexec(shell_local_commands, chp, cmd, n, args) &&
+ ((scp == NULL) || cmdexec(scp, chp, cmd, n, args))) {
+ chprintf(chp, "%s", cmd);
+ chprintf(chp, " ?\r\n");
+ }
+ }
+ }
+ shellExit(MSG_OK);
+}
+
+/**
+ * @brief Shell manager initialization.
+ *
+ * @api
+ */
+void shellInit(void) {
+
+ chEvtObjectInit(&shell_terminated);
+}
+
+/**
+ * @brief Terminates the shell.
+ * @note Must be invoked from the command handlers.
+ * @note Does not return.
+ *
+ * @param[in] msg shell exit code
+ *
+ * @api
+ */
+void shellExit(msg_t msg) {
+
+ /* Atomically broadcasting the event source and terminating the thread,
+ there is not a chSysUnlock() because the thread terminates upon return.*/
+ chSysLock();
+ chEvtBroadcastI(&shell_terminated);
+ chThdExitS(msg);
+}
+
+/**
+ * @brief Reads a whole line from the input channel.
+ * @note Input chars are echoed on the same stream object with the
+ * following exceptions:
+ * - DEL and BS are echoed as BS-SPACE-BS.
+ * - CR is echoed as CR-LF.
+ * - 0x4 is echoed as "^D".
+ * - Other values below 0x20 are not echoed.
+ * .
+ *
+ * @param[in] chp pointer to a @p BaseSequentialStream object
+ * @param[in] line pointer to the line buffer
+ * @param[in] size buffer maximum length
+ * @return The operation status.
+ * @retval true the channel was reset or CTRL-D pressed.
+ * @retval false operation successful.
+ *
+ * @api
+ */
+bool shellGetLine(BaseSequentialStream *chp, char *line, unsigned size) {
+ char *p = line;
+
+ while (true) {
+ char c;
+
+ if (chSequentialStreamRead(chp, (uint8_t *)&c, 1) == 0)
+ return true;
+ if (c == 4) {
+ chprintf(chp, "^D");
+ return true;
+ }
+ if ((c == 8) || (c == 127)) {
+ if (p != line) {
+ chSequentialStreamPut(chp, c);
+ chSequentialStreamPut(chp, 0x20);
+ chSequentialStreamPut(chp, c);
+ p--;
+ }
+ continue;
+ }
+ if (c == '\r') {
+ chprintf(chp, "\r\n");
+ *p = 0;
+ return false;
+ }
+ if (c < 0x20)
+ continue;
+ if (p < line + size - 1) {
+ chSequentialStreamPut(chp, c);
+ *p++ = (char)c;
+ }
+ }
+}
+
+/** @} */
diff --git a/os/various/shell/shell.h b/os/various/shell/shell.h
new file mode 100644
index 000000000..f6607cb43
--- /dev/null
+++ b/os/various/shell/shell.h
@@ -0,0 +1,110 @@
+/*
+ ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file shell.h
+ * @brief Simple CLI shell header.
+ *
+ * @addtogroup SHELL
+ * @{
+ */
+
+#ifndef _SHELL_H_
+#define _SHELL_H_
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+/**
+ * @brief Shell maximum input line length.
+ */
+#if !defined(SHELL_MAX_LINE_LENGTH) || defined(__DOXYGEN__)
+#define SHELL_MAX_LINE_LENGTH 64
+#endif
+
+/**
+ * @brief Shell maximum arguments per command.
+ */
+#if !defined(SHELL_MAX_ARGUMENTS) || defined(__DOXYGEN__)
+#define SHELL_MAX_ARGUMENTS 4
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/**
+ * @brief Command handler function type.
+ */
+typedef void (*shellcmd_t)(BaseSequentialStream *chp, int argc, char *argv[]);
+
+/**
+ * @brief Custom command entry type.
+ */
+typedef struct {
+ const char *sc_name; /**< @brief Command name. */
+ shellcmd_t sc_function; /**< @brief Command function. */
+} ShellCommand;
+
+/**
+ * @brief Shell descriptor type.
+ */
+typedef struct {
+ BaseSequentialStream *sc_channel; /**< @brief I/O channel associated
+ to the shell. */
+ const ShellCommand *sc_commands; /**< @brief Shell extra commands
+ table. */
+} ShellConfig;
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if !defined(__DOXYGEN__)
+extern event_source_t shell_terminated;
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+ void shellInit(void);
+ THD_FUNCTION(shellThread, p);
+ void shellExit(msg_t msg);
+ bool shellGetLine(BaseSequentialStream *chp, char *line, unsigned size);
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+#endif /* _SHELL_H_ */
+
+/** @} */
diff --git a/os/various/shell/shell.mk b/os/various/shell/shell.mk
new file mode 100644
index 000000000..de735d516
--- /dev/null
+++ b/os/various/shell/shell.mk
@@ -0,0 +1,5 @@
+# RT Shell files.
+SHELLSRC = $(CHIBIOS)/os/various/shell/shell.c \
+ $(CHIBIOS)/os/various/shell/shell_cmd.c
+
+SHELLINC = $(CHIBIOS)/os/various/shell
diff --git a/os/various/shell/shell_cmd.c b/os/various/shell/shell_cmd.c
new file mode 100644
index 000000000..1a8bba4a4
--- /dev/null
+++ b/os/various/shell/shell_cmd.c
@@ -0,0 +1,193 @@
+/*
+ ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file shell_cmd.c
+ * @brief Simple CLI shell common commands code.
+ *
+ * @addtogroup SHELL
+ * @{
+ */
+
+#include <string.h>
+
+#include "ch.h"
+#include "hal.h"
+#include "shell.h"
+#include "shell_cmd.h"
+#include "chprintf.h"
+
+#if (SHELL_CMD_TEST_ENABLED == TRUE) || defined(__DOXYGEN__)
+#include "test.h"
+#endif
+
+/*===========================================================================*/
+/* Module local definitions. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module exported variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local variables. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module local functions. */
+/*===========================================================================*/
+
+static void usage(BaseSequentialStream *chp, char *p) {
+
+ chprintf(chp, "Usage: %s\r\n", p);
+}
+
+#if (SHELL_CMD_INFO_ENABLED == TRUE) || defined(__DOXYGEN__)
+static void cmd_info(BaseSequentialStream *chp, int argc, char *argv[]) {
+
+ (void)argv;
+ if (argc > 0) {
+ usage(chp, "info");
+ return;
+ }
+
+ chprintf(chp, "Kernel: %s\r\n", CH_KERNEL_VERSION);
+#ifdef PORT_COMPILER_NAME
+ chprintf(chp, "Compiler: %s\r\n", PORT_COMPILER_NAME);
+#endif
+ chprintf(chp, "Architecture: %s\r\n", PORT_ARCHITECTURE_NAME);
+#ifdef PORT_CORE_VARIANT_NAME
+ chprintf(chp, "Core Variant: %s\r\n", PORT_CORE_VARIANT_NAME);
+#endif
+#ifdef PORT_INFO
+ chprintf(chp, "Port Info: %s\r\n", PORT_INFO);
+#endif
+#ifdef PLATFORM_NAME
+ chprintf(chp, "Platform: %s\r\n", PLATFORM_NAME);
+#endif
+#ifdef BOARD_NAME
+ chprintf(chp, "Board: %s\r\n", BOARD_NAME);
+#endif
+#ifdef __DATE__
+#ifdef __TIME__
+ chprintf(chp, "Build time: %s%s%s\r\n", __DATE__, " - ", __TIME__);
+#endif
+#endif
+}
+#endif
+
+#if (SHELL_CMD_SYSTIME_ENABLED == TRUE) || defined(__DOXYGEN__)
+static void cmd_systime(BaseSequentialStream *chp, int argc, char *argv[]) {
+
+ (void)argv;
+ if (argc > 0) {
+ usage(chp, "systime");
+ return;
+ }
+ chprintf(chp, "%lu\r\n", (unsigned long)chVTGetSystemTime());
+}
+#endif
+
+#if (SHELL_CMD_MEM_ENABLED == TRUE) || defined(__DOXYGEN__)
+static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
+ size_t n, total, largest;
+
+ (void)argv;
+ if (argc > 0) {
+ chprintf(chp, "Usage: mem\r\n");
+ return;
+ }
+ n = chHeapStatus(NULL, &total, &largest);
+ chprintf(chp, "core free memory : %u bytes\r\n", chCoreGetStatusX());
+ chprintf(chp, "heap fragments : %u\r\n", n);
+ chprintf(chp, "heap free total : %u bytes\r\n", total);
+ chprintf(chp, "heap free largest: %u bytes\r\n", largest);
+}
+#endif
+
+#if (SHELL_CMD_THREADS_ENABLED == TRUE) || defined(__DOXYGEN__)
+static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
+ static const char *states[] = {CH_STATE_NAMES};
+ thread_t *tp;
+
+ (void)argv;
+ if (argc > 0) {
+ chprintf(chp, "Usage: threads\r\n");
+ return;
+ }
+ chprintf(chp, "stklimit stack addr prio state name\r\n");
+ tp = chRegFirstThread();
+ do {
+ chprintf(chp, "%08lx %08lx %08lx %4lu %9s %12s\r\n",
+ (uint32_t)tp->stklimit, (uint32_t)tp->ctx.r13, (uint32_t)tp,
+ (uint32_t)tp->prio, states[tp->state],
+ tp->name == NULL ? "" : tp->name);
+ tp = chRegNextThread(tp);
+ } while (tp != NULL);
+}
+#endif
+
+#if (SHELL_CMD_TEST_ENABLED == TRUE) || defined(__DOXYGEN__)
+static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) {
+ thread_t *tp;
+
+ (void)argv;
+ if (argc > 0) {
+ chprintf(chp, "Usage: test\r\n");
+ return;
+ }
+ tp = chThdCreateFromHeap(NULL, SHELL_CMD_TEST_WA_SIZE, chThdGetPriorityX(),
+ TestThread, chp);
+ if (tp == NULL) {
+ chprintf(chp, "out of memory\r\n");
+ return;
+ }
+ chThdWait(tp);
+ chThdFreeToHeap(tp);
+}
+#endif
+
+/*===========================================================================*/
+/* Module exported functions. */
+/*===========================================================================*/
+
+/**
+ * @brief Array of the default commands.
+ */
+ShellCommand shell_local_commands[] = {
+#if SHELL_CMD_INFO_ENABLED == TRUE
+ {"info", cmd_info},
+#endif
+#if SHELL_CMD_SYSTIME_ENABLED == TRUE
+ {"systime", cmd_systime},
+#endif
+#if SHELL_CMD_MEM_ENABLED == TRUE
+ {"mem", cmd_mem},
+#endif
+#if SHELL_CMD_THREADS_ENABLED == TRUE
+ {"threads", cmd_threads},
+#endif
+#if SHELL_CMD_TEST_ENABLED == TRUE
+ {"test", cmd_test},
+#endif
+ {NULL, NULL}
+};
+
+/** @} */
diff --git a/os/various/shell/shell_cmd.h b/os/various/shell/shell_cmd.h
new file mode 100644
index 000000000..36e6c0728
--- /dev/null
+++ b/os/various/shell/shell_cmd.h
@@ -0,0 +1,106 @@
+/*
+ ChibiOS - Copyright (C) 2006..2015 Giovanni Di Sirio
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+*/
+
+/**
+ * @file shell_cmd.h
+ * @brief Simple CLI shell common commands header.
+ *
+ * @addtogroup SHELL
+ * @{
+ */
+
+#ifndef _SHELLCMD_H_
+#define _SHELLCMD_H_
+
+/*===========================================================================*/
+/* Module constants. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module pre-compile time settings. */
+/*===========================================================================*/
+
+#if !defined(SHELL_CMD_INFO_ENABLED) || defined(__DOXYGEN__)
+#define SHELL_CMD_INFO_ENABLED TRUE
+#endif
+
+#if !defined(SHELL_CMD_SYSTIME_ENABLED) || defined(__DOXYGEN__)
+#define SHELL_CMD_SYSTIME_ENABLED TRUE
+#endif
+
+#if !defined(SHELL_CMD_MEM_ENABLED) || defined(__DOXYGEN__)
+#define SHELL_CMD_MEM_ENABLED TRUE
+#endif
+
+#if !defined(SHELL_CMD_THREADS_ENABLED) || defined(__DOXYGEN__)
+#define SHELL_CMD_THREADS_ENABLED TRUE
+#endif
+
+#if !defined(SHELL_CMD_TEST_ENABLED) || defined(__DOXYGEN__)
+#define SHELL_CMD_TEST_ENABLED TRUE
+#endif
+
+#if !defined(SHELL_CMD_TEST_WA_SIZE) || defined(__DOXYGEN__)
+#define SHELL_CMD_TEST_WA_SIZE THD_WORKING_AREA_SIZE(256)
+#endif
+
+/*===========================================================================*/
+/* Derived constants and error checks. */
+/*===========================================================================*/
+
+#if (SHELL_CMD_MEM_ENABLED == TRUE) && (CH_CFG_USE_MEMCORE == FALSE)
+#error "SHELL_CMD_MEM_ENABLED requires CH_CFG_USE_MEMCORE"
+#endif
+
+#if (SHELL_CMD_MEM_ENABLED == TRUE) && (CH_CFG_USE_HEAP == FALSE)
+#error "SHELL_CMD_MEM_ENABLED requires CH_CFG_USE_HEAP"
+#endif
+
+#if (SHELL_CMD_THREADS_ENABLED == TRUE) && (CH_CFG_USE_REGISTRY == FALSE)
+#error "SHELL_CMD_THREADS_ENABLED requires CH_CFG_USE_REGISTRY"
+#endif
+
+/*===========================================================================*/
+/* Module data structures and types. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* Module macros. */
+/*===========================================================================*/
+
+/*===========================================================================*/
+/* External declarations. */
+/*===========================================================================*/
+
+#if !defined(__DOXYGEN__)
+extern ShellCommand shell_local_commands[];
+#endif
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+/*===========================================================================*/
+/* Module inline functions. */
+/*===========================================================================*/
+
+#endif /* _SHELLCMD_H_ */
+
+/** @} */
diff --git a/testhal/STM32/STM32F7xx/USB_CDC/Makefile b/testhal/STM32/STM32F7xx/USB_CDC/Makefile
index c8262db2d..f94db3344 100644
--- a/testhal/STM32/STM32F7xx/USB_CDC/Makefile
+++ b/testhal/STM32/STM32F7xx/USB_CDC/Makefile
@@ -99,6 +99,8 @@ include $(CHIBIOS)/os/rt/rt.mk
include $(CHIBIOS)/os/common/ports/ARMCMx/compilers/GCC/mk/port_v7m.mk
# Other files (optional).
include $(CHIBIOS)/test/rt/test.mk
+include $(CHIBIOS)/os/hal/lib/streams/streams.mk
+include $(CHIBIOS)/os/various/shell/shell.mk
# Define linker script file here
LDSCRIPT= $(STARTUPLD)/STM32F746xG.ld
@@ -113,9 +115,8 @@ CSRC = $(STARTUPSRC) \
$(PLATFORMSRC) \
$(BOARDSRC) \
$(TESTSRC) \
- $(CHIBIOS)/os/various/shell.c \
- $(CHIBIOS)/os/hal/lib/streams/memstreams.c \
- $(CHIBIOS)/os/hal/lib/streams/chprintf.c \
+ $(STREAMSSRC) \
+ $(SHELLSRC) \
usbcfg.c main.c
# C++ sources that can be compiled in ARM or THUMB mode depending on the global
@@ -147,7 +148,7 @@ ASMSRC = $(STARTUPASM) $(PORTASM) $(OSALASM)
INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
$(HALINC) $(PLATFORMINC) $(BOARDINC) $(TESTINC) \
- $(CHIBIOS)/os/hal/lib/streams $(CHIBIOS)/os/various
+ $(STREAMSINC) $(SHELLINC)
#
# Project, sources and paths
diff --git a/testhal/STM32/STM32F7xx/USB_CDC/main.c b/testhal/STM32/STM32F7xx/USB_CDC/main.c
index b75c37cda..d703f52c5 100644
--- a/testhal/STM32/STM32F7xx/USB_CDC/main.c
+++ b/testhal/STM32/STM32F7xx/USB_CDC/main.c
@@ -31,59 +31,6 @@
/*===========================================================================*/
#define SHELL_WA_SIZE THD_WORKING_AREA_SIZE(2048)
-#define TEST_WA_SIZE THD_WORKING_AREA_SIZE(256)
-
-static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {
- size_t n, total, largest;
-
- (void)argv;
- if (argc > 0) {
- chprintf(chp, "Usage: mem\r\n");
- return;
- }
- n = chHeapStatus(NULL, &total, &largest);
- chprintf(chp, "core free memory : %u bytes\r\n", chCoreGetStatusX());
- chprintf(chp, "heap fragments : %u\r\n", n);
- chprintf(chp, "heap free total : %u bytes\r\n", total);
- chprintf(chp, "heap free largest: %u bytes\r\n", largest);
-}
-
-static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {
- static const char *states[] = {CH_STATE_NAMES};
- thread_t *tp;
-
- (void)argv;
- if (argc > 0) {
- chprintf(chp, "Usage: threads\r\n");
- return;
- }
- chprintf(chp, "stklimit stack addr prio state name\r\n");
- tp = chRegFirstThread();
- do {
- chprintf(chp, "%08lx %08lx %08lx %4lu %9s %12s\r\n",
- (uint32_t)tp->stklimit, (uint32_t)tp->ctx.r13, (uint32_t)tp,
- (uint32_t)tp->prio, states[tp->state],
- tp->name == NULL ? "" : tp->name);
- tp = chRegNextThread(tp);
- } while (tp != NULL);
-}
-
-static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) {
- thread_t *tp;
-
- (void)argv;
- if (argc > 0) {
- chprintf(chp, "Usage: test\r\n");
- return;
- }
- tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriorityX(),
- TestThread, chp);
- if (tp == NULL) {
- chprintf(chp, "out of memory\r\n");
- return;
- }
- chThdWait(tp);
-}
/* Can be measured using dd if=/dev/xxxx of=/dev/null bs=512 count=10000.*/
static void cmd_write(BaseSequentialStream *chp, int argc, char *argv[]) {
@@ -126,9 +73,6 @@ static void cmd_write(BaseSequentialStream *chp, int argc, char *argv[]) {
}
static const ShellCommand commands[] = {
- {"mem", cmd_mem},
- {"threads", cmd_threads},
- {"test", cmd_test},
{"write", cmd_write},
{NULL, NULL}
};
@@ -218,8 +162,7 @@ int main(void) {
shellThread, (void *)&shell_cfg1);
}
else if (chThdTerminatedX(shelltp)) {
- chThdWait(shelltp);
- chHeapFree(chthdGetStackLimitX(shelltp));
+ chThdFreeToHeap(shelltp);
shelltp = NULL; /* Triggers spawning of a new shell. */
}
#if 0
--
cgit v1.2.3