int io_getc(char *c)
{
int ci;
int status;
status = usart_read_char(&CONFIG_CONSOLE_PORT, &ci);
if (status == USART_RX_EMPTY)
return 1;
if (status == USART_RX_ERROR) {
CONFIG_CONSOLE_PORT.cr = AVR32_USART_CR_RSTSTA_MASK;
return 1;
}
/* Echo char. */
if (ci == '\r')
usart_putchar(&CONFIG_CONSOLE_PORT, '\n');
else if (ci == '\b'){
usart_putchar(&CONFIG_CONSOLE_PORT, ci);
usart_putchar(&CONFIG_CONSOLE_PORT, ' ');
usart_putchar(&CONFIG_CONSOLE_PORT, ci);
}
else
usart_putchar(&CONFIG_CONSOLE_PORT, ci);
*c = ci;
return 0;
}
static void usart_int_handler(void)
{
int c; // Empfangenes Datum
usart_read_char(USART_0, &c);
//INTERRUPT CODE USART
}
int usart_getchar(volatile avr32_usart_t *usart)
{
int c, ret;
while ((ret = usart_read_char(usart, &c)) == USART_RX_EMPTY);
if (ret == USART_RX_ERROR)
return USART_FAILURE;
return c;
}
void ISO7816_Usart_ISR_Test (void)
{
static int n = 0;
static int c;
// static int x;
// Test for tx int
// Tx int enabled ?
if (1 == EXAMPLE_INT_USART->IMR.txempty)
{
// Yes
// Data send ?
if (1 == EXAMPLE_INT_USART->CSR.txempty)
{
// Data send
EXAMPLE_INT_USART->IDR.txempty = 1;
usart_reset_tx (EXAMPLE_INT_USART);
/*
// Disable tx empty interrupt Disable_global_interrupt(); EXAMPLE_INT_USART->IDR.txempty = 1; Enable_global_interrupt(); while (1 ==
EXAMPLE_INT_USART->IMR.txempty) ; */
/*
// clearing interrupt request x = EXAMPLE_INT_USART->cr; EXAMPLE_INT_USART->cr = x; x = EXAMPLE_INT_USART->cr; */
}
}
else
{
n++;
}
// Test for rx int
if (1 == EXAMPLE_INT_USART->CSR.rxrdy)
{
// Data is ready
usart_read_char (EXAMPLE_INT_USART, &c);
// EXAMPLE_INT_USART->IER.txempty = 1;
// Send data
// usart_write_char(EXAMPLE_INT_USART, c);
// Enable tx int
Disable_global_interrupt ();
EXAMPLE_INT_USART->IER.txempty = 1;
Enable_global_interrupt ();
while (0 == EXAMPLE_INT_USART->IMR.txempty);
}
/*
usart_read_char(EXAMPLE_INT_USART, &c); usart_write_char(EXAMPLE_INT_USART, c); */
n++;
}
__interrupt
#endif
static void ISO7816_Usart_ISR (void)
{
static int n = 0;
static int nError = 0;
int c;
int nRet;
u16 SaveBufferPointer_u16;
// Test for rx int
if (1 == EXAMPLE_INT_USART->CSR.rxrdy)
{
// Get Data
nRet = usart_read_char (EXAMPLE_INT_USART, &c);
if (USART_RX_ERROR == nRet)
{
usart_reset_tx (ISO7816_USART); // Reset all
usart_reset_rx (ISO7816_USART);
nError++;
return;
}
// Save old end pointer
SaveBufferPointer_u16 = ISO7816_UsartRxBufferPointerEnd_u16;
// Set next buffer position
SaveBufferPointer_u16++;
// End of buffer reached ?
if (ISO7816_RX_BUFFER_SIZE <= SaveBufferPointer_u16)
{
// Yes
SaveBufferPointer_u16 = 0;
}
// Buffer full ?
if (ISO7816_UsartRxBufferPointerEnd_u16 == SaveBufferPointer_u16)
{
// Buffer full
ISO7816_UsartRxBufferStatus_e = ISO7816_USART_INT_STATUS_OVERFLOW;
}
else
{
// Store char
ISO7816_UsartRxBuffer_u8[ISO7816_UsartRxBufferPointerEnd_u16] = c;
// Set external var to new buffer end
ISO7816_UsartRxBufferPointerEnd_u16 = SaveBufferPointer_u16;
}
}
n++;
}
//! @brief This function wait a key press
//!
//! @return true, if the action must be continue
//!
bool ushell_more_wait( void )
{
int c_key;
printf("\n\r-- space for more--");
c_key=0;
while( (c_key!='q') && (c_key!=' ') )
{
usart_reset_status(SHL_USART);
while(usart_read_char(SHL_USART, &c_key) != USART_SUCCESS);
}
printf("\r \r");
return (c_key==' ');
}
/*! \brief Gets the full command line on RS232 input to be interpreted.
* The cmd_str variable is built with the user inputs.
*/
static void fat_example_build_cmd(void)
{
int c;
// If something new in the USART
usart_reset_status(SHL_USART);
if (usart_read_char(SHL_USART, &c) == USART_SUCCESS)
{
switch (c)
{
case CR:
// Add LF.
print_char(SHL_USART, LF);
// Add NUL char.
cmd_str[i_str] = '\0';
// Decode the command.
fat_example_parse_cmd();
i_str = 0;
break;
// ^c abort cmd.
case ABORT_CHAR:
// Reset command length.
i_str = 0;
// Display prompt.
print(SHL_USART, "\n" MSG_PROMPT);
break;
// Backspace.
case BKSPACE_CHAR:
if (i_str > 0)
{
// Replace last char.
print(SHL_USART, "\b \b");
// Decraese command length.
i_str--;
}
break;
default:
// Echo.
print_char(SHL_USART, c);
// Append to cmd line.
cmd_str[i_str++] = c;
break;
}
}
}
__interrupt
#endif
void BUFFERED_SIO_Usart_ISR (void)
{
static int nRxBytes = 0;
static int nTxBytes = 0;
static int nIntCalls = 0;
static int nError = 0;
int c;
int nRet;
// clearing interrupt request
c = BUFFERED_SIO_USART->cr;
BUFFERED_SIO_USART->cr = c;
c = BUFFERED_SIO_USART->cr;
// Test for rx int
if (1 == BUFFERED_SIO_USART->CSR.rxrdy)
{
// Get Data
nRet = usart_read_char (BUFFERED_SIO_USART, &c);
if (USART_RX_ERROR == nRet)
{
usart_reset_status (BUFFERED_SIO_USART);
nError++;
}
else
{
BUFFERED_SIO_RxIntHandler (c);
nRxBytes++;
}
}
// Test for tx empty int
if (1 == BUFFERED_SIO_USART->CSR.txempty)
{
BUFFERED_SIO_TxIntHandler ();
nTxBytes++;
}
nIntCalls++;
}
//! @brief Minimalist file editor to append char to a file
//!
//! @verbatim
//! hit ^q to exit and save file
//! @endverbatim
//!
void ushell_cmd_append_file( void )
{
int c_key;
if( g_s_arg[0][0] == 0 )
return;
// Select file or directory
if( !nav_setcwd( (FS_STRING)g_s_arg[0], true, false ) )
{
fputs(MSG_ER_UNKNOWN_FILE, stdout);
return;
}
// Open file
if( !file_open(FOPEN_MODE_APPEND) )
{
fputs(MSG_KO, stdout);
return;
}
// Append file
fputs(MSG_APPEND_WELCOME, stdout);
while( 1 )
{
usart_reset_status(SHL_USART);
while(usart_read_char(SHL_USART, &c_key) != USART_SUCCESS);
if( c_key == ASCII_CTRL_Q )
break; // ^q to quit
putchar( c_key );
file_putc( c_key );
if( c_key == ASCII_CR )
{
putchar(ASCII_LF);
file_putc(ASCII_LF);
}
}
// Close file
file_close();
putchar(ASCII_CR);putchar(ASCII_LF);
}
__interrupt
#endif
static void usart_int_handler(void)
{
int c;
/*
* In the code line below, the interrupt priority level does not need to
* be explicitly masked as it is already because we are within the
* interrupt handler.
* The USART Rx interrupt flag is cleared by side effect when reading
* the received character.
* Waiting until the interrupt has actually been cleared is here useless
* as the call to usart_write_char will take enough time for this before
* the interrupt handler is left and the interrupt priority level is
* unmasked by the CPU.
*/
usart_read_char(EXAMPLE_USART, &c);
// Print the received character to USART. This is a simple echo.
usart_write_char(EXAMPLE_USART, c);
}
/*! \brief Minimalist file editor to append char to a file.
*
* \note Hit ^q to exit and save file.
*/
static void fat_example_append_file(void)
{
int c;
print(SHL_USART, MSG_APPEND_WELCOME);
// Wait for ^q to quit.
while (TRUE)
{
// If something new in the USART
usart_reset_status(SHL_USART);
if (usart_read_char(SHL_USART, &c) == USART_SUCCESS)
{
// if this is not the quit char
if (c != QUIT_APPEND)
{
// Echo the char.
print_char(SHL_USART, c);
// Add it to the file.
file_putc(c);
// if it is a carriage return.
if (c == CR)
{
// Echo line feed.
print_char(SHL_USART, LF);
// Add line feed to the file.
file_putc(LF);
}
}
// Quit char received.
else
{
// Exit the append function.
break;
}
}
}
}
//! @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;
}
*/
#include <asf.h>
#include "uart.h"
#include "main.h"
#include "ui.h"
static usart_options_t usart_options;
ISR(usart_interrupt, USART_IRQ_GROUP, 3)
{
if (USART->csr & AVR32_USART_CSR_RXRDY_MASK) {
// Data received
ui_com_tx_start();
int value;
bool b_error = (USART_SUCCESS != usart_read_char(USART, &value));
if (b_error) {
usart_reset_status(USART);
udi_cdc_signal_framing_error();
ui_com_error();
}
// Transfer UART RX fifo to CDC TX
if (!udi_cdc_is_tx_ready()) {
// Fifo full
udi_cdc_signal_overrun();
ui_com_overflow();
}else{
udi_cdc_putc(value);
}
ui_com_tx_stop();
return;
/*~~~~~~~~~~~~ ISR ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~*/
static void usart_int_handler(void)
{
int rx_character;
/*
* In the code line below, the interrupt priority level does not need to
* be explicitly masked as it is already because we are within the
* interrupt handler.
* The USART Rx interrupt flag is cleared by side effect when reading
* the received character.
* Waiting until the interrupt has actually been cleared is here useless
* as the call to usart_write_char will take enough time for this before
* the interrupt handler is left and the interrupt priority level is
* unmasked by the CPU.
*/
usart_read_char(USART, &rx_character);
if(global_is_command == 0)
{
switch(rx_character)
{
case 'a':
{
//Get Roll, Pitch, Yaw, Z
//request data
//usart_write_char(USART, rx_character);
//usart_write_line(USART,"\r\nGet Motor Speed #1\r\n");
global_command = rx_character;
global_is_command = 1;
global_ready = 0;
break;
}
case 'R':
{
//End transmission
//end ISR
//usart_write_line(USART,"\r\nEnding Transmission\r\n");
global_is_command = 0;
global_ready = 0;
break;
}
default:
{
//error
//end ISR
//usart_write_line(USART,"\r\nBad Command\r\n");
global_is_command = 0;
global_ready = 0;
break;
}
}
}
else //received character is data
{
if(global_data_counter < 4) //if data
{
//usart_write_char(USART, rx_character);
global_data[global_data_counter] = rx_character; //save char as data
global_data_counter++; //increment data counter
}
else
{
if(global_data_counter == 4)
{
//usart_write_char(USART, rx_character);
global_data[global_data_counter] = rx_character; //save last received char
global_is_command = 0; //next char should be a command
global_ready = 1; //data is ready
global_data_counter =0; //reset data counter
//usart_write_line(USART,"\r\nData Saved\r\n");
}
}
}
}
