/*
* Low-level initialization routine called during startup, before the main
* function.
* This version comes in replacement to the default one provided by the Newlib
* add-ons library.
* Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
* exception vectors are not compatible with the SCALL management in the current
* FreeRTOS port. More low-level initializations are besides added here.
*/
int _init_startup(void)
{
/* Import the Exception Vector Base Address. */
extern void _evba;
#if configHEAP_INIT
extern void __heap_start__;
extern void __heap_end__;
portBASE_TYPE *pxMem;
#endif
/* Load the Exception Vector Base Address in the corresponding system register. */
Set_system_register( AVR32_EVBA, ( int ) &_evba );
/* Enable exceptions. */
ENABLE_ALL_EXCEPTIONS();
/* Initialize interrupt handling. */
INTC_init_interrupts();
#if configHEAP_INIT
/* Initialize the heap used by malloc. */
for( pxMem = &__heap_start__; pxMem < ( portBASE_TYPE * )&__heap_end__; )
{
*pxMem++ = 0xA5A5A5A5;
}
#endif
/* Give the used PBA clock frequency to Newlib, so it can work properly. */
set_cpu_hz( configPBA_CLOCK_HZ );
/* Code section present if and only if the debug trace is activated. */
#if configDBG
{
static const gpio_map_t DBG_USART_GPIO_MAP =
{
{ configDBG_USART_RX_PIN, configDBG_USART_RX_FUNCTION },
{ configDBG_USART_TX_PIN, configDBG_USART_TX_FUNCTION }
};
/* Initialize the USART used for the debug trace with the configured parameters. */
set_usart_base( ( void * ) configDBG_USART );
gpio_enable_module( DBG_USART_GPIO_MAP,
sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) );
usart_init( configDBG_USART_BAUDRATE );
}
#endif
// Don't-care value for GCC.
return 1;
}
/*! \brief Low-level initialization routine called during startup, before the
* main function.
*
* This version comes in replacement to the default one provided by the Newlib
* add-ons library.
* Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
* exception and interrupt vectors are defined in the same section and Newlib
* add-ons' interrupt vectors are not compatible with the interrupt management
* of the INTC module.
* More low-level initializations are besides added here.
*/
int _init_startup(void)
{
// Import the Exception Vector Base Address.
extern void _evba;
// Load the Exception Vector Base Address in the corresponding system register.
Set_system_register(AVR32_EVBA, (int)&_evba);
// Enable exceptions.
Enable_global_exception();
// Initialize interrupt handling.
INTC_init_interrupts();
// Initialize the USART used for the debug trace with the configured parameters.
set_usart_base( ( void * ) DBG_USART );
// Don't-care value for GCC.
return 1;
}
/*! \brief Low-level initialization routine called during startup, before the
* main function.
*
* This version comes in replacement to the default one provided by the Newlib
* add-ons library.
* Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
* exception and interrupt vectors are defined in the same section and Newlib
* add-ons' interrupt vectors are not compatible with the interrupt management
* of the INTC module.
* More low-level initializations are besides added here.
*/
int _init_startup(void)
{
// Import the Exception Vector Base Address.
extern void _evba;
// Load the Exception Vector Base Address in the corresponding system register.
Set_system_register(AVR32_EVBA, (int)&_evba);
// Enable exceptions.
Enable_global_exception();
// Initialize interrupt handling.
INTC_init_interrupts();
// Give the used CPU clock frequency to Newlib, so it can work properly.
set_cpu_hz(pcl_freq_param.pba_f);
// Initialize the USART used for the debug trace with the configured parameters.
set_usart_base( ( void * ) DBG_USART );
// Don't-care value for GCC.
return 1;
}
/*! \brief Initializes STDIO.
*/
static void init_stdio(void)
{
#if (defined __GNUC__) && (defined __AVR32__)
static const gpio_map_t STDIO_USART_GPIO_MAP =
{
{STDIO_USART_RX_PIN, STDIO_USART_RX_FUNCTION},
{STDIO_USART_TX_PIN, STDIO_USART_TX_FUNCTION}
};
// Initialize the USART used for STDIO.
set_usart_base((void *)STDIO_USART);
gpio_enable_module(STDIO_USART_GPIO_MAP,
sizeof(STDIO_USART_GPIO_MAP) / sizeof(STDIO_USART_GPIO_MAP[0]));
usart_init(STDIO_USART_BAUDRATE);
#elif (defined __ICCAVR32__)
static const gpio_map_t STDIO_USART_GPIO_MAP =
{
{STDIO_USART_RX_PIN, STDIO_USART_RX_FUNCTION},
{STDIO_USART_TX_PIN, STDIO_USART_TX_FUNCTION}
};
static const usart_options_t STDIO_USART_OPTIONS =
{
.baudrate = STDIO_USART_BAUDRATE,
.charlength = 8,
.paritytype = USART_NO_PARITY,
.stopbits = USART_1_STOPBIT,
.channelmode = USART_NORMAL_CHMODE
};
// Initialize the USART used for STDIO.
extern volatile avr32_usart_t *volatile stdio_usart_base;
stdio_usart_base = STDIO_USART;
gpio_enable_module(STDIO_USART_GPIO_MAP,
sizeof(STDIO_USART_GPIO_MAP) / sizeof(STDIO_USART_GPIO_MAP[0]));
usart_init_rs232(STDIO_USART, &STDIO_USART_OPTIONS, FPBA_HZ);
#endif
}
#if (defined __GNUC__)
/*! \brief Low-level initialization routine called during startup, before the
* main function.
*
* This version comes in replacement to the default one provided by the Newlib
* add-ons library.
* Newlib add-ons' _init_startup only calls init_exceptions, but Newlib add-ons'
* exception and interrupt vectors are defined in the same section and Newlib
* add-ons' interrupt vectors are not compatible with the interrupt management
* of the INTC module.
* More low-level initializations are besides added here.
*/
int _init_startup(void)
{
// Import the Exception Vector Base Address.
extern void _evba;
// Load the Exception Vector Base Address in the corresponding system register.
Set_system_register(AVR32_EVBA, (int)&_evba);
// Enable exceptions.
Enable_global_exception();
// Initialize interrupt handling.
irq_initialize_vectors();
cpu_irq_enable();
init_stdio();
// Don't-care value for GCC.
return 1;
}
#elif (defined __ICCAVR32__)
/*! \brief Low-level initialization routine called during startup, before the
* main function.
*/
int __low_level_init(void)
{
// Enable exceptions.
Enable_global_exception();
// Initialize interrupt handling.
irq_initialize_vectors();
cpu_irq_enable();
init_stdio();
// Request initialization of data segments.
return 1;
}
//! @brief This function initializes the hardware/software resources required for ushell task.
//!
void ushell_task_init(uint32_t pba_hz)
{
uint8_t u8_i;
//** Initialize the USART used by uShell with the configured parameters
static const gpio_map_t SHL_USART_GPIO_MAP =
{
{SHL_USART_RX_PIN, SHL_USART_RX_FUNCTION},
{SHL_USART_TX_PIN, SHL_USART_TX_FUNCTION}
};
#if (defined __GNUC__)
set_usart_base((void *)SHL_USART);
gpio_enable_module(SHL_USART_GPIO_MAP,
sizeof(SHL_USART_GPIO_MAP) / sizeof(SHL_USART_GPIO_MAP[0]));
usart_init(SHL_USART_BAUDRATE);
#elif (defined __ICCAVR32__)
static const usart_options_t SHL_USART_OPTIONS =
{
.baudrate = SHL_USART_BAUDRATE,
.charlength = 8,
.paritytype = USART_NO_PARITY,
.stopbits = USART_1_STOPBIT,
.channelmode = USART_NORMAL_CHMODE
};
extern volatile avr32_usart_t *volatile stdio_usart_base;
stdio_usart_base = SHL_USART;
gpio_enable_module(SHL_USART_GPIO_MAP,
sizeof(SHL_USART_GPIO_MAP) / sizeof(SHL_USART_GPIO_MAP[0]));
usart_init_rs232(SHL_USART, &SHL_USART_OPTIONS, pba_hz);
#endif
//** Configure standard I/O streams as unbuffered.
#if (defined __GNUC__)
setbuf(stdin, NULL);
#endif
setbuf(stdout, NULL);
// Set default state of ushell
g_b_ushell_task_run = false;
for( u8_i=0; u8_i<USHELL_HISTORY; u8_i++ ) {
g_s_cmd_his[u8_i][0] = 0; // Set end of line for all cmd line history
}
fputs(MSG_EXIT, stdout );
g_u32_ushell_pba_hz = pba_hz; // Save value to manage a time counter during perform command
#ifdef FREERTOS_USED
xTaskCreate(ushell_task,
configTSK_USHELL_NAME,
configTSK_USHELL_STACK_SIZE,
NULL,
configTSK_USHELL_PRIORITY,
NULL);
#endif // FREERTOS_USED
}
#ifdef FREERTOS_USED
/*! \brief Entry point of the explorer task management.
*
* This function performs uShell decoding to access file-system functions.
*
* \param pvParameters Unused.
*/
void ushell_task(void *pvParameters)
#else
/*! \brief Entry point of the explorer task management.
*
* This function performs uShell decoding to access file-system functions.
*/
void ushell_task(void)
#endif
{
#ifdef FREERTOS_USED
//** Inifinite loop for RTOS because it is a RTOS task
portTickType xLastWakeTime;
xLastWakeTime = xTaskGetTickCount();
while (true)
{
vTaskDelayUntil(&xLastWakeTime, configTSK_USHELL_PERIOD);
#else
//** No loop with the basic scheduler
{
#endif // FREERTOS_USED
//** Check the USB mode and authorize/unauthorize ushell
if(!g_b_ushell_task_run)
{
if( Is_usb_id_device() )
#ifdef FREERTOS_USED
continue; // Continue in the RTOS task
#else
return; // Exit of the task scheduled
#endif
g_b_ushell_task_run = true;
// Display shell startup
fputs(MSG_WELCOME, stdout);
ushell_cmd_nb_drive();
fputs(MSG_PROMPT, stdout);
// Reset the embedded FS on ushell navigator and on first drive
nav_reset();
nav_select( FS_NAV_ID_USHELL_CMD );
nav_drive_set( 0 );
}else{
if( Is_usb_id_device() )
{
g_b_ushell_task_run = false;
fputs(MSG_EXIT, stdout );
nav_exit();
#ifdef FREERTOS_USED
continue; // Continue in the RTOS task
#else
return; // Exit of the task scheduled
#endif
}
}
//** Scan shell command
if( !ushell_cmd_scan() )
#ifdef FREERTOS_USED
continue; // Continue in the RTOS task
#else
return; // Exit of the task scheduled
#endif
//** Command ready then decode and execute this one
switch( ushell_cmd_decode() )
{
// Displays number of drives
case CMD_NB_DRIVE:
ushell_cmd_nb_drive();
break;
// Displays free space information for all connected drives
case CMD_DF:
ushell_cmd_free_space();
break;
// Formats disk
case CMD_FORMAT:
ushell_cmd_format();
break;
// Mounts a drive (e.g. "b:")
case CMD_MOUNT:
ushell_cmd_mount();
break;
// Displays the space information for current drive
case CMD_SPACE:
ushell_cmd_space();
break;
// Lists the files present in current directory (e.g. "ls")
case CMD_LS:
ushell_cmd_ls(false);
break;
case CMD_LS_MORE:
ushell_cmd_ls(true);
break;
// Enters in a directory (e.g. "cd folder_toto")
case CMD_CD:
ushell_cmd_cd();
break;
// Enters in parent directory ("cd..")
case CMD_UP:
ushell_cmd_gotoparent();
break;
// Displays a text file
case CMD_CAT:
ushell_cmd_cat(false);
break;
case CMD_CAT_MORE:
ushell_cmd_cat(true);
break;
// Displays the help
case CMD_HELP:
ushell_cmd_help();
break;
// Creates directory
case CMD_MKDIR:
ushell_cmd_mkdir();
break;
// Creates file
case CMD_TOUCH:
ushell_cmd_touch();
break;
// Deletes files or directories
case CMD_RM:
ushell_cmd_rm();
break;
// Appends char to selected file
case CMD_APPEND:
ushell_cmd_append_file();
break;
// Index routines (= specific shortcut from ATMEL FileSystem)
case CMD_SET_ID:
g_mark_index = nav_getindex();
break;
case CMD_GOTO_ID:
nav_gotoindex( &g_mark_index );
break;
// Copies file to other location
case CMD_CP:
ushell_cmd_copy();
break;
// Renames file
case CMD_MV:
ushell_cmd_rename();
break;
// Synchronize folders
case CMD_SYNC:
ushell_cmd_sync();
break;
case CMD_PERFORM:
ushell_cmd_perform();
break;
// USB commands
#if USB_HOST_FEATURE == true
case CMD_LS_USB:
ushell_cmdusb_ls();
break;
case CMD_USB_SUSPEND:
ushell_cmdusb_suspend();
break;
case CMD_USB_RESUME:
ushell_cmdusb_resume();
break;
#endif
case CMD_NONE:
break;
// Unknown command
default:
fputs(MSG_ER_CMD_NOT_FOUND, stdout);
break;
}
fputs(MSG_PROMPT, stdout);
}
}
//! @brief Get the full command line to be interpreted.
//!
//! @return true, if a command is ready
//!
bool ushell_cmd_scan(void)
{
int c_key;
// Something new of the UART ?
if (usart_read_char(SHL_USART, &c_key) != USART_SUCCESS)
{
usart_reset_status(SHL_USART);
return false;
}
if( 0 != g_u8_escape_sequence )
{
//** Decode escape sequence
if( 1 == g_u8_escape_sequence )
{
if( 0x5B != c_key )
{
g_u8_escape_sequence=0;
return false; // Escape sequence cancel
}
g_u8_escape_sequence=2;
}
else
{
// Decode value of the sequence
switch (c_key)
{
/*
Note: OVERRUN error on USART with an RTOS and USART without interrupt management
If you want support "Escape sequence", then you have to implement USART interrupt management
case 0x41: // UP command
ushell_clean_cmd_line();
ushell_history_up();
ushell_history_display();
break;
case 0x42: // DOWN command
ushell_clean_cmd_line();
ushell_history_down();
ushell_history_display();
break;
*/
default: // Ignore other command
break;
}
g_u8_escape_sequence=0; // End of Escape sequence
}
return false;
}
//** Normal sequence
switch (c_key)
{
//** Command validation
case ASCII_CR:
putchar(ASCII_CR); // Echo
putchar(ASCII_LF); // Add new line flag
g_s_cmd_his[g_u8_history_pos][g_u8_cmd_size]=0; // Add NULL terminator at the end of command line
return true;
//** Enter in escape sequence
case ASCII_ESCAPE:
g_u8_escape_sequence=1;
break;
//** backspace
case ASCII_BKSPACE:
if(g_u8_cmd_size>0) // Beginning of line ?
{
// Remove the last character on terminal
putchar(ASCII_BKSPACE); // Send a backspace to go in previous character
putchar(' '); // Send a space to erase previous character
putchar(ASCII_BKSPACE); // Send a backspace to go in new end position (=previous character position)
// Remove the last character on cmd line buffer
g_u8_cmd_size--;
}
break;
// History management
case '!':
ushell_clean_cmd_line();
ushell_history_up();
ushell_history_display();
break;
case '$':
ushell_clean_cmd_line();
ushell_history_down();
ushell_history_display();
break;
//** Other char
default:
if( (0x1F<c_key) && (c_key<0x7F) && (USHELL_SIZE_CMD_LINE!=g_u8_cmd_size) )
{
// Accept char
putchar(c_key); // Echo
g_s_cmd_his[g_u8_history_pos][g_u8_cmd_size++] = c_key; // append to cmd line
}
break;
}
return false;
}
/*
* Low-level initialization routine called during startup, before the main
* function.
* This version comes in replacement to the default one provided by Newlib.
* Newlib's _init_startup only calls init_exceptions, but Newlib's exception
* vectors are not compatible with the SCALL management in the current FreeRTOS
* port. More low-level initializations are besides added here.
*/
void _init_startup(void)
{
/* Import the Exception Vector Base Address. */
extern void _evba;
#if configHEAP_INIT
extern void __heap_start__;
extern void __heap_end__;
portBASE_TYPE *pxMem;
#endif
/* Load the Exception Vector Base Address in the corresponding system register. */
Set_system_register( AVR32_EVBA, ( int ) &_evba );
/* Enable exceptions. */
ENABLE_ALL_EXCEPTIONS();
/* Initialize interrupt handling. */
INTC_init_interrupts();
#if configHEAP_INIT
/* Initialize the heap used by malloc. */
for( pxMem = &__heap_start__; pxMem < ( portBASE_TYPE * )&__heap_end__; )
{
*pxMem++ = 0xA5A5A5A5;
}
#endif
/* Give the used CPU clock frequency to Newlib, so it can work properly. */
set_cpu_hz( configCPU_CLOCK_HZ );
// Input and output parameters when initializing PM clocks using pm_configure_clocks().
pm_freq_param_t clkParams = {
configCPU_CLOCK_HZ, // unsigned long cpu_f;
configPBA_CLOCK_HZ, // unsigned long pba_f; ! PBA frequency (input/output argument).
FOSC0, // unsigned long osc0_f; ! Oscillator 0's external crystal(or external clock) frequency (board dependant) (input argument).
OSC0_STARTUP // unsigned long osc0_startup; ! Oscillator 0's external crystal(or external clock) startup time: AVR32_PM_OSCCTRL0_STARTUP_x_RCOSC (input argument).
};
pm_configure_clocks(&clkParams);
/* Code section present if and only if the debug trace is activated. */
#if configDBG
{
static const gpio_map_t DBG_USART_GPIO_MAP =
{
{ configDBG_USART_RX_PIN, configDBG_USART_RX_FUNCTION },
{ configDBG_USART_TX_PIN, configDBG_USART_TX_FUNCTION }
};
/* Initialize the USART used for the debug trace with the configured parameters. */
set_usart_base( ( void * ) configDBG_USART );
gpio_enable_module( DBG_USART_GPIO_MAP,
sizeof( DBG_USART_GPIO_MAP ) / sizeof( DBG_USART_GPIO_MAP[0] ) );
usart_init( configDBG_USART_BAUDRATE );
/*const usart_options_t USART_OPTIONS =
{
configDBG_USART_BAUDRATE, // baudrate
8, // charlength
USART_NO_PARITY, // paritytype
USART_1_STOPBIT, // stopbits
USART_NORMAL_CHMODE // channelmode
};
usart_init_rs232(configDBG_USART, &USART_OPTIONS, configPBA_CLOCK_HZ);*/
}
#endif
}
