Add very basic serial CLI to the Zynq demo - needs a lot of tidy up yet!

FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/.cproject

@@ -32,6 +32,7 @@
 								</option>
 								<option id="xilinx.gnu.compiler.dircategory.includes.1516519458" name="Include Paths" superClass="xilinx.gnu.compiler.dircategory.includes" valueType="includePath">
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/FreeRTOS_Source/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/FreeRTOS-Plus-CLI}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/Standard_Demo_Tasks/include}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
 									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src/FreeRTOS_Source/portable/GCC/ARM_CA9}&quot;"/>

FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/.project

@@ -24,6 +24,11 @@
 		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
 	</natures>
 	<linkedResources>
+		<link>
+			<name>src/FreeRTOS-Plus-CLI</name>
+			<type>2</type>
+			<locationURI>FREERTOS_ROOT/FreeRTOS-Plus/Source/FreeRTOS-Plus-CLI</locationURI>
+		</link>
 		<link>
 			<name>src/FreeRTOS_Source</name>
 			<type>2</type>
@@ -34,6 +39,11 @@
 			<type>2</type>
 			<locationURI>FREERTOS_ROOT/FreeRTOS/Demo/Common</locationURI>
 		</link>
+		<link>
+			<name>src/UARTCommandConsole.c</name>
+			<type>1</type>
+			<locationURI>FREERTOS_ROOT/FreeRTOS-Plus/Demo/Common/FreeRTOS_Plus_CLI_Demos/UARTCommandConsole.c</locationURI>
+		</link>
 	</linkedResources>
 	<filteredResources>
 		<filter>

FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/main.c

@@ -128,6 +128,8 @@ void vApplicationIdleHook( void );
 void vApplicationStackOverflowHook( xTaskHandle pxTask, char *pcTaskName );
 void vApplicationTickHook( void );
 
+XScuGic xInterruptController;
+
 /*-----------------------------------------------------------*/
 
 int main( void )
@@ -155,7 +157,6 @@ static void prvSetupHardware( void )
 {
 BaseType_t xStatus;
 XScuGic_Config *pxGICConfig;
-XScuGic xInterruptController;
 
 	/* Ensure no interrupts execute while the scheduler is in an inconsistent
 	state.  Interrupts are automatically enabled when the scheduler is

FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/main_full.c

@@ -228,6 +228,11 @@ extern void vRegTest2Implementation( void );
 extern void vRegisterSampleCLICommands( void );
 extern void vRegisterFileSystemCLICommands( void );
 
+/*
+ * The task that manages the FreeRTOS+CLI input and output.
+ */
+extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );
+
 /*-----------------------------------------------------------*/
 
 /* The following two variables are used to communicate the status of the
@@ -240,10 +245,6 @@ volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;
 
 void main_full( void )
 {
-	/* The baud rate setting here has no effect, hence it is set to 0 to
-	make that obvious. */
-//	xSerialPortInitMinimal( 0, mainUART_QUEUE_LENGTHS );
-
 	/* Start all the other standard demo/test tasks.  The have not particular
 	functionality, but do demonstrate how to use the FreeRTOS API and test the
 	kernel port. */
@@ -260,7 +261,7 @@ void main_full( void )
 
 	/* Start the tasks that implements the command console on the UART, as
 	described above. */
-//	vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
+	vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );
 
 	/* Register the standard CLI commands. */
 //	vRegisterSampleCLICommands();
@@ -294,7 +295,7 @@ void main_full( void )
 	for( ;; );
 }
 /*-----------------------------------------------------------*/
-#error Fails when the tick hook is used
+
 static void prvCheckTask( void *pvParameters )
 {
 portTickType xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;

FreeRTOS/Demo/CORTEX_A9_Zynq_ZC702/RTOSDemo/src/serial.c

@@ -77,6 +77,7 @@
 
 /* Scheduler includes. */
 #include "FreeRTOS.h"
+#include "task.h"
 #include "queue.h"
 #include "semphr.h"
 #include "comtest2.h"
@@ -84,30 +85,99 @@
 /* Demo application includes. */
 #include "serial.h"
 
+/* Xilinx includes. */
+#include "xuartps.h"
+#include "xscugic.h"
+#include "xil_exception.h"
+
+/*-----------------------------------------------------------*/
+
+static XUartPs xUARTInstance;
+extern XScuGic xInterruptController;
+
 /*-----------------------------------------------------------*/
 
+static void prvISRHandler( void *pvUnused, uint32_t ulEvent, uint32_t ulUnused2 );
+
 /*
  * See the serial2.h header file.
  */
-xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
+xComPortHandle xSerialPortInitMinimal( uint32_t ulWantedBaud, UBaseType_t uxQueueLength )
 {
-	return NULL;
+BaseType_t xStatus;
+XUartPs_Config *pxConfig;
+
+	/* Look up the UART configuration then initialise the dirver. */
+	pxConfig = XUartPs_LookupConfig( XPAR_XUARTPS_0_DEVICE_ID );
+	configASSERT( pxConfig );
+
+	xStatus = XUartPs_CfgInitialize( &xUARTInstance, pxConfig, pxConfig->BaseAddress );
+	configASSERT( xStatus == XST_SUCCESS );
+
+	XUartPs_SetBaudRate( &xUARTInstance, ulWantedBaud );
+
+	XUartPs_SetOperMode( &xUARTInstance, XUARTPS_OPER_MODE_NORMAL );
+
+	return 0;
 }
 /*-----------------------------------------------------------*/
 
-signed portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, portTickType xBlockTime )
+BaseType_t xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, portTickType xBlockTime )
 {
-	return 0;
+TickType_t xTimeOnEntering;
+const TickType_t xDelay = 10UL / portTICK_PERIOD_MS;
+BaseType_t xReturn = 0;
+
+	xTimeOnEntering = xTaskGetTickCount();
+
+	do
+	{
+		/* Only wanting to receive one key press at a time. */
+		if( XUartPs_Recv( &xUARTInstance, pcRxedChar, sizeof( pcRxedChar ) ) != 0 )
+		{
+			xReturn = 1;
+			break;
+		}
+		else
+		{
+			vTaskDelay( xDelay );
+		}
+	} while( ( xTaskGetTickCount() - xTimeOnEntering ) <= xBlockTime );
+
+	return xReturn;
 }
 /*-----------------------------------------------------------*/
 
 void vSerialPutString( xComPortHandle pxPort, const signed char * const pcString, unsigned short usStringLength )
 {
+static const xTxDelay = 10UL / portTICK_PERIOD_MS;
+uint32_t ulBytesSent = 0UL;
+
+	( void ) pxPort;
+
+	while( ulBytesSent < usStringLength )
+	{
+		ulBytesSent += XUartPs_Send( &xUARTInstance, pcString + ulBytesSent, usStringLength - ulBytesSent );
+
+		while( XUartPs_IsSending( &xUARTInstance ) )
+		{
+			vTaskDelay( xTxDelay );
+		}
+	}
 }
 /*-----------------------------------------------------------*/
 
 signed portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, portTickType xBlockTime )
 {
+static const xTxDelay = 10UL / portTICK_PERIOD_MS;
+
+	XUartPs_Send( &xUARTInstance, &cOutChar, sizeof( cOutChar ) );
+
+	while( XUartPs_IsSending( &xUARTInstance ) )
+	{
+		vTaskDelay( xTxDelay );
+	}
+
 	return 0;
 }
 /*-----------------------------------------------------------*/