Complete CLI demo on SAMD20.

FreeRTOS/Demo/CORTEX_M0+_Atmel_SAMD20_XPlained/RTOSDemo/src/UARTCommandConsole.c

@@ -107,10 +107,21 @@ static void prvUARTCommandConsoleTask( void *pvParameters );
 static void prvSendBuffer( struct usart_module *pxCDCUsart, uint8_t * pcBuffer, size_t xBufferLength );
 
 /*
- * A UART is used for printf() output and CLI input and output.  Configure the
+ * Register the 'standard' sample CLI commands with FreeRTOS+CLI.
- * UART and register prvUARTRxNotificationHandler() to handle UART Rx events.
+ */
+extern void vRegisterSampleCLICommands( void );
+
+/*
+ * Configure the UART used for IO.and register prvUARTRxNotificationHandler() 
+ * to handle UART Rx events.
  */
 static void prvConfigureUART( struct usart_module *pxCDCUsart );
+
+/*
+ * Callback functions registered with the Atmel UART driver.  Both functions 
+ * just 'give' a semaphore to unblock a task that may be waiting for a 
+ * character to be received, or a transmission to complete.
+ */
 static void prvUARTTxNotificationHandler( const struct usart_module *const pxUSART );
 static void prvUARTRxNotificationHandler( const struct usart_module *const pxUSART );
 
@@ -133,6 +144,8 @@ static xSemaphoreHandle xRxCompleteSemaphore = NULL;
 
 void vUARTCommandConsoleStart( uint16_t usStackSize, unsigned portBASE_TYPE uxPriority )
 {
+	vRegisterSampleCLICommands();
+	
 	/* Create that task that handles the console itself. */
 	xTaskCreate( 	prvUARTCommandConsoleTask,			/* The task that implements the command console. */
 					( const int8_t * const ) "CLI",		/* Text name assigned to the task.  This is just to assist debugging.  The kernel does not use this name itself. */
@@ -251,7 +264,7 @@ static struct usart_module xCDCUsart; /* Static so it doesn't take up too much s
 
 static void prvSendBuffer( struct usart_module *pxCDCUsart, uint8_t * pcBuffer, size_t xBufferLength )
 {
-const portTickType xBlockMax50ms = 50 / portTICK_RATE_MS;
+const portTickType xBlockMax100ms = 100UL / portTICK_RATE_MS;
 
 	if( xBufferLength > 0 )
 	{		
@@ -259,7 +272,7 @@ const portTickType xBlockMax50ms = 50 / portTICK_RATE_MS;
 		
 		/* Wait for the Tx to complete so the buffer can be reused without
 		corrupting the data that is being sent. */
-		xSemaphoreTake( xTxCompleteSemaphore, xBlockMax50ms );
+		xSemaphoreTake( xTxCompleteSemaphore, xBlockMax100ms );
 	}
 }
 /*-----------------------------------------------------------*/

FreeRTOS/Demo/CORTEX_M0+_Atmel_SAMD20_XPlained/RTOSDemo/src/config/FreeRTOSConfig.h

@@ -100,9 +100,15 @@ extern uint32_t SystemCoreClock;
 #define configUSE_MALLOC_FAILED_HOOK	1
 #define configUSE_APPLICATION_TASK_TAG	0
 #define configUSE_COUNTING_SEMAPHORES	1
-#define configGENERATE_RUN_TIME_STATS	0
 #define configUSE_QUEUE_SETS			1
 
+/* Run time stats related definitions. */
+void vMainConfigureTimerForRunTimeStats( void );
+unsigned long ulMainGetRunTimeCounterValue( void );
+#define configGENERATE_RUN_TIME_STATS	1
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() vMainConfigureTimerForRunTimeStats()
+#define portGET_RUN_TIME_COUNTER_VALUE() ulMainGetRunTimeCounterValue()
+
 /* Co-routine definitions. */
 #define configUSE_CO_ROUTINES 			0
 #define configMAX_CO_ROUTINE_PRIORITIES ( 2 )
@@ -124,6 +130,12 @@ to exclude the API function. */
 #define INCLUDE_vTaskDelay				1
 #define INCLUDE_eTaskGetState			1
 
+/* This demo makes use of one or more example stats formatting functions.  These
+format the raw data provided by the uxTaskGetSystemState() function in to human
+readable ASCII form.  See the notes in the implementation of vTaskList() within
+FreeRTOS/Source/tasks.c for limitations. */
+#define configUSE_STATS_FORMATTING_FUNCTIONS	1
+
 /* Normal assert() semantics without relying on the provision of an assert.h
 header file. */
 #define configASSERT( x ) if( ( x ) == 0 ) { taskDISABLE_INTERRUPTS(); for( ;; ); }

FreeRTOS/Demo/CORTEX_M0+_Atmel_SAMD20_XPlained/RTOSDemo/src/main.c

@@ -72,12 +72,29 @@
 /* Library includes. */
 #include <asf.h>
 
+/*-----------------------------------------------------------*/
+
+/*
+ * Hardware and driver initialisation can be done in this function.
+ */
 static void prvSetupHardware( void );
+
+/* 
+ * Prototypes for the FreeRTOS hook/callback functions.  See the comments in
+ * the implementation of each function for more information.
+ */
 void vApplicationMallocFailedHook( void );
 void vApplicationIdleHook( void );
 void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );
 void vApplicationTickHook( void );
 
+/*-----------------------------------------------------------*/
+
+/* Used in the run time stats calculations. */
+static unsigned long ulClocksPer10thOfAMilliSecond = 0UL;
+
+/*-----------------------------------------------------------*/
+
 int main (void)
 {
 	prvSetupHardware();
@@ -153,4 +170,61 @@ void vApplicationTickHook( void )
 	code must not attempt to block, and only the interrupt safe FreeRTOS API
 	functions can be used (those that end in FromISR()). */
 }
+/*-----------------------------------------------------------*/
+
+void vMainConfigureTimerForRunTimeStats( void )
+{
+	/* How many clocks are there per tenth of a millisecond? */
+	ulClocksPer10thOfAMilliSecond = configCPU_CLOCK_HZ / 10000UL;
+}
+/*-----------------------------------------------------------*/
+
+unsigned long ulMainGetRunTimeCounterValue( void )
+{
+unsigned long ulSysTickCounts, ulTickCount, ulReturn;
+const unsigned long ulSysTickReloadValue = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
+volatile unsigned long * const pulCurrentSysTickCount = ( ( volatile unsigned long *) 0xe000e018 );
+volatile unsigned long * const pulInterruptCTRLState = ( ( volatile unsigned long *) 0xe000ed04 );
+const unsigned long ulSysTickPendingBit = 0x04000000UL;
+
+	/* NOTE: There are potentially race conditions here.  However, it is used
+	anyway to keep the examples simple, and to avoid reliance on a separate
+	timer peripheral. */
+
+
+	/* The SysTick is a down counter.  How many clocks have passed since it was
+	last reloaded? */
+	ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
+	
+	/* How many times has it overflowed? */
+	ulTickCount = xTaskGetTickCountFromISR();
+
+	/* This is called from the context switch, so will be called from a
+	critical section.  xTaskGetTickCountFromISR() contains its own critical
+	section, and the ISR safe critical sections are not designed to nest,
+	so reset the critical section. */
+	portSET_INTERRUPT_MASK_FROM_ISR();
+	
+	/* Is there a SysTick interrupt pending? */
+	if( ( *pulInterruptCTRLState & ulSysTickPendingBit ) != 0UL )
+	{
+		/* There is a SysTick interrupt pending, so the SysTick has overflowed
+		but the tick count not yet incremented. */
+		ulTickCount++;
+		
+		/* Read the SysTick again, as the overflow might have occurred since
+		it was read last. */
+		ulSysTickCounts = ulSysTickReloadValue - *pulCurrentSysTickCount;
+	}	
+	
+	/* Convert the tick count into tenths of a millisecond.  THIS ASSUMES
+	configTICK_RATE_HZ is 1000! */
+	ulReturn = ( ulTickCount * 10UL ) ;
+		
+	/* Add on the number of tenths of a millisecond that have passed since the
+	tick count last got updated. */
+	ulReturn += ( ulSysTickCounts / ulClocksPer10thOfAMilliSecond );
+	
+	return ulReturn;	
+}