/* ChibiOS/RT - Copyright (C) 2006-2013 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. */ #include "ch.h" #include "hal.h" #include "test.h" #include "shell.h" #include "chprintf.h" #define SHELL_WA_SIZE THD_WA_SIZE(4096) #define CONSOLE_WA_SIZE THD_WA_SIZE(4096) #define TEST_WA_SIZE THD_WA_SIZE(4096) #define cputs(msg) chMsgSend(cdtp, (msg_t)msg) static Thread *cdtp; static Thread *shelltp1; static Thread *shelltp2; static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) { size_t n, size; (void)argv; if (argc > 0) { chprintf(chp, "Usage: mem\r\n"); return; } n = chHeapStatus(NULL, &size); chprintf(chp, "core free memory : %u bytes\r\n", chCoreStatus()); chprintf(chp, "heap fragments : %u\r\n", n); chprintf(chp, "heap free total : %u bytes\r\n", size); } static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) { static const char *states[] = {THD_STATE_NAMES}; Thread *tp; (void)argv; if (argc > 0) { chprintf(chp, "Usage: threads\r\n"); return; } chprintf(chp, " addr stack prio refs state time\r\n"); tp = chRegFirstThread(); do { chprintf(chp, "%.8lx %.8lx %4lu %4lu %9s %lu\r\n", (uint32_t)tp, (uint32_t)tp->p_ctx.esp, (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1), states[tp->p_state], (uint32_t)tp->p_time); tp = chRegNextThread(tp); } while (tp != NULL); } static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) { Thread *tp; (void)argv; if (argc > 0) { chprintf(chp, "Usage: test\r\n"); return; } tp = chThdCreateFromHeap(NULL, TEST_WA_SIZE, chThdGetPriority(), TestThread, chp); if (tp == NULL) { chprintf(chp, "out of memory\r\n"); return; } chThdWait(tp); } static const ShellCommand commands[] = { {"mem", cmd_mem}, {"threads", cmd_threads}, {"test", cmd_test}, {NULL, NULL} }; static const ShellConfig shell_cfg1 = { (BaseSequentialStream *)&SD1, commands }; static const ShellConfig shell_cfg2 = { (BaseSequentialStream *)&SD2, commands }; /* * 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 terminated string itself. */ static msg_t console_thread(void *arg) { (void)arg; while (!chThdShouldTerminate()) { Thread *tp = chMsgWait(); puts((char *)chMsgGet(tp)); fflush(stdout); chMsgRelease(tp, RDY_OK); } return 0; } /** * @brief Shell termination handler. * * @param[in] id event id. */ static void termination_handler(eventid_t id) { (void)id; if (shelltp1 && chThdTerminated(shelltp1)) { chThdWait(shelltp1); shelltp1 = NULL; chThdSleepMilliseconds(10); cputs("Init: shell on SD1 terminated"); chSysLock(); chOQResetI(&SD1.oqueue); chSysUnlock(); } if (shelltp2 && chThdTerminated(shelltp2)) { chThdWait(shelltp2); shelltp2 = NULL; chThdSleepMilliseconds(10); cputs("Init: shell on SD2 terminated"); chSysLock(); chOQResetI(&SD2.oqueue); chSysUnlock(); } } static EventListener sd1fel, sd2fel; /** * @brief SD1 status change handler. * * @param[in] id event id. */ static void sd1_handler(eventid_t id) { flagsmask_t flags; (void)id; flags = chEvtGetAndClearFlags(&sd1fel); if ((flags & CHN_CONNECTED) && (shelltp1 == NULL)) { cputs("Init: connection on SD1"); shelltp1 = shellCreate(&shell_cfg1, SHELL_WA_SIZE, NORMALPRIO + 1); } if (flags & CHN_DISCONNECTED) { cputs("Init: disconnection on SD1"); chSysLock(); chIQResetI(&SD1.iqueue); chSysUnlock(); } } /** * @brief SD2 status change handler. * * @param[in] id event id. */ static void sd2_handler(eventid_t id) { flagsmask_t flags; (void)id; flags = chEvtGetAndClearFlags(&sd2fel); if ((flags & CHN_CONNECTED) && (shelltp2 == NULL)) { cputs("Init: connection on SD2"); shelltp2 = shellCreate(&shell_cfg2, SHELL_WA_SIZE, NORMALPRIO + 10); } if (flags & CHN_DISCONNECTED) { cputs("Init: disconnection on SD2"); chSysLock(); chIQResetI(&SD2.iqueue); chSysUnlock(); } } static evhandler_t fhandlers[] = { termination_handler, sd1_handler, sd2_handler }; /*------------------------------------------------------------------------* * Simulator main. * *------------------------------------------------------------------------*/ int main(void) { EventListener tel; /* * System initializations. * - HAL initialization, this also initializes the configured device drivers * and performs the board-specific initializations. * - Kernel initialization, the main() function becomes a thread and the * RTOS is active. */ halInit(); chSysInit(); /* * Serial ports (simulated) initialization. */ sdStart(&SD1, NULL); sdStart(&SD2, NULL); /* * Shell manager initialization. */ shellInit(); chEvtRegister(&shell_terminated, &tel, 0); /* * Console thread started. */ cdtp = chThdCreateFromHeap(NULL, CONSOLE_WA_SIZE, NORMALPRIO + 1, console_thread, NULL); /* * Initializing connection/disconnection events. */ cputs("Shell service started on SD1, SD2"); cputs(" - Listening for connections on SD1"); chEvtRegister(chnGetEventSource(&SD1), &sd1fel, 1); cputs(" - Listening for connections on SD2"); chEvtRegister(chnGetEventSource(&SD2), &sd2fel, 2); /* * Events servicing loop. */ while (!chThdShouldTerminate()) chEvtDispatch(fhandlers, chEvtWaitOne(ALL_EVENTS)); /* * Clean simulator exit. */ chEvtUnregister(chnGetEventSource(&SD1), &sd1fel); chEvtUnregister(chnGetEventSource(&SD2), &sd2fel); return 0; } ref='#n95'>95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281