Added basic CLI. command history still not implemented

.gitignore

@@ -2,3 +2,4 @@
 *.obj
 *.map
 sd_logger
+.vscode

cli.c

@@ -0,0 +1,113 @@
+/**
+ * @file cli.c
+ * Implements console command handling for the SD logger program.
+ * Interface-specific handling should be done in another file, this file
+ * abstracts it.
+ */
+
+#include <string.h>
+
+#include "cli.h"
+
+/**
+ * Initializes memory for a CLI context.
+ * @param context: CLI context to init.
+ * @param read_fxn: read function.
+ * @param write_fxn: write function.
+ */
+void cli_context_init(CLIContext *context, int (*read_fxn)(char *, int),
+                      int (*write_fxn)(char *, int)) {
+    context->cursor = NULL;
+    memset(context->line_buffer, 0, CLI_MAX_LINE);
+    context->cli_read = read_fxn;
+    context->cli_write = write_fxn;
+}
+
+/**
+ * Runs the embedded CLI for this program. The provided context exposes read
+ * and write functions for a communication interface.
+ * @param context: CLI context for I/O.
+ */
+void start_cli(CLIContext *context) {
+    char input, esc_buf[2], *line_buf;
+    char prompt[] = "-> ";
+    /*
+     * CLI loop, reads a line of data then handles it according to
+     * avaliable targets.
+     */
+    while (1) {
+        // Print prompt.
+        context->cli_write(prompt, sizeof(prompt));
+        // Initialize cursor location to start of buffer.
+        context->cursor = line_buf = context->line_buffer;
+        // Zero out line buffer.
+        memset(line_buf, 0, CLI_MAX_LINE);
+        // Read data until a LF is found.
+        do {
+            context->cli_read(&input, 1);
+            switch (input) {
+            case '\r': // CR, or enter on most consoles.
+                context->cli_write("\r\n", 2);
+                // TODO: handle command.
+                context->cli_write("Got Data:", 9);
+                context->cli_write(line_buf, strlen(line_buf));
+                context->cli_write("\r\n", 2);
+                break;
+            case '\b':
+                /**
+                 * Backspace: send backspace and space to clear
+                 * character. Edit the value in the command buffer as well.
+                 */
+                if (context->cursor != line_buf) {
+                    context->cli_write("\b\x20\b", 3);
+                    // Move cursor back, and clear the character there.
+                    context->cursor--;
+                    *(context->cursor) = '\0';
+                }
+                break;
+            case '\x1b':
+                /**
+                 * Escape sequence. Read more characters from the
+                 * input to see if we can handle it.
+                 */
+                context->cli_read(esc_buf, 2);
+                if (esc_buf[0] != '[') {
+                    // Not an escape sequence we understand, ignore it.
+                    break;
+                }
+                /*
+                 * If the escape sequence starts with '\x33]',
+                 * switch on next char.
+                 */
+                switch (esc_buf[1]) {
+                case 'C': // Right arrow
+                    if (*(context->cursor) != '\0') {
+                        // Move cursor and print the forward control seq.
+                        (context->cursor)++;
+                        context->cli_write(&input, 1);
+                        context->cli_write(esc_buf, 2);
+                    }
+                    break;
+                case 'D': // Left arrow
+                    if (context->cursor != line_buf) {
+                        // Move cursor and print the backward control seq.
+                        (context->cursor)--;
+                        context->cli_write(&input, 1);
+                        context->cli_write(esc_buf, 2);
+                    }
+                default:
+                    // Ignore other escape sequences.
+                    break;
+                }
+                break;
+            default:
+                // Simply echo character, and set in buffer
+                context->cli_write(&input, 1);
+                *(context->cursor) = input;
+                // Move to next location in buffer
+                (context->cursor)++;
+                break;
+            }
+        } while (input != '\r' && context->cursor - line_buf < CLI_MAX_LINE);
+    }
+}

cli.h

@@ -0,0 +1,40 @@
+/**
+ * @file cli.h
+ * Implements console command handling for the SD logger program.
+ * Interface-specific handling should be done in another file, this file
+ * abstracts it.
+ */
+#ifndef CLI_H
+#define CLI_H
+
+/** CLI configuration parameters */
+#define CLI_MAX_LINE 80
+
+typedef struct {
+    /*! read bytes into the buffer. Returns the number of bytes read. */
+    int (*cli_read)(char *, int);
+    /*! write data for output on the CLI. Returns number of bytes written. */
+    int (*cli_write)(char *, int);
+    /*! current pointer location */
+    char *cursor;
+    /*! line buffer */
+    char line_buffer[CLI_MAX_LINE];
+} CLIContext;
+
+/**
+ * Initializes memory for a CLI context.
+ * @param context: CLI context to init.
+ * @param read_fxn: read function.
+ * @param write_fxn: write function.
+ */
+void cli_context_init(CLIContext *context, int (*read_fxn)(char *, int),
+                      int (*write_fxn)(char *, int));
+
+/**
+ * Runs the embedded CLI for this program. The provided context exposes read
+ * and write functions for a communication interface.
+ * @param context: CLI context for I/O.
+ */
+void start_cli(CLIContext *context);
+
+#endif

makefile

@@ -1,5 +1,5 @@
 ###### CHANGE LOCATION TO YOUR CODEGEN TOOLS INSTALL DIR. UNIX PATH (no backslashes) #######
-CODEGEN_INSTALL_DIR = /usr
+CODEGEN_INSTALL_DIR = /home/danieldegrasse/Downloads/gcc-arm-none-eabi-4_7-2012q4
 
 CC = "$(CODEGEN_INSTALL_DIR)/bin/arm-none-eabi-gcc"
 LNK = "$(CODEGEN_INSTALL_DIR)/bin/arm-none-eabi-gcc"

sd_logger.c

@@ -18,10 +18,7 @@
 /* Board Header file */
 #include "Board.h"
 
-#define TASKSTACKSIZE   512
-
-Task_Struct task0Struct;
-Char task0Stack[TASKSTACKSIZE];
+#include "uart_console.h"
 
 /*
  *  ======== heartBeatFxn ========
@@ -41,7 +38,6 @@ Void heartBeatFxn(UArg arg0, UArg arg1)
  */
 int main(void)
 {
-    Task_Params taskParams;
 
     /* Call board init functions */
     Board_initGeneral();
@@ -53,14 +49,7 @@ int main(void)
     // Board_initUSB(Board_USBDEVICE);
     // Board_initWatchdog();
     // Board_initWiFi();
-
-    /* Construct heartBeat Task  thread */
-    Task_Params_init(&taskParams);
-    taskParams.arg0 = 1000;
-    taskParams.stackSize = TASKSTACKSIZE;
-    taskParams.stack = &task0Stack;
-    Task_construct(&task0Struct, (Task_FuncPtr)heartBeatFxn, &taskParams, NULL);
-
+    uart_prebios();
     /* Turn on user LED */
     GPIO_write(Board_LED0, Board_LED_ON);
 

sd_logger.cfg

@@ -273,11 +273,6 @@ BIOS.runtimeCreatesEnabled = true;
  */
 //BIOS.logsEnabled = true;
 BIOS.logsEnabled = false;
-
-
-
-/* ================ Memory configuration ================ */
-var Memory = xdc.useModule('xdc.runtime.Memory');
 /*
  * The Memory module itself simply provides a common interface for any
  * variety of system and application specific memory management policies
@@ -296,7 +291,7 @@ if (!Program.build.target.$name.match(/iar/)) {
      *  Reducing the system stack size (used by ISRs and Swis) to reduce
      *  RAM usage.
      */
-    Program.stack = 768;
+Program.stack = 512;
 }
 
 
@@ -307,37 +302,6 @@ if (!Program.build.target.$name.match(/iar/)) {
 if (Program.build.target.$name.match(/gnu/)) {
     var SemiHost = xdc.useModule('ti.sysbios.rts.gnu.SemiHostSupport');
 }
-/* ================ Semaphore configuration ================ */
-var Semaphore = xdc.useModule('ti.sysbios.knl.Semaphore');
-/*
- * Enables global support for Task priority pend queuing.
- *
- * Pick one:
- *  - true (default)
- *      This allows pending tasks to be serviced based on their task priority.
- *  - false
- *      Pending tasks are services based on first in, first out basis.
- *
- *  When using BIOS in ROM:
- *      This option must be set to false.
- */
-//Semaphore.supportsPriority = true;
-Semaphore.supportsPriority = false;
-
-/*
- * Allows for the implicit posting of events through the semaphore,
- * disable for additional code saving.
- *
- * Pick one:
- *  - true
- *      This allows the Semaphore module to post semaphores and events
- *      simultaneously.
- *  - false (default)
- *      Events must be explicitly posted to unblock tasks.
- *
- */
-//Semaphore.supportsEvents = true;
-Semaphore.supportsEvents = false;
 
 
 
@@ -483,19 +447,6 @@ Task.idleTaskStackSize = 512;
 Task.numPriorities = 16;
 
 
-/* ================ Task creation ================ */
-/*
- * Create all statically allocated tasks in this project.
- */
-var Task = xdc.useModule('ti.sysbios.knl.Task');
-/*
- * Add all required tasks for this program.
- */
-var uartTaskParams = new Task.Params();
-uartTaskParams.stackSize = 512;
-uartTaskParams.instance.name = "uartTask";
-Program.global.uart_task = Task.create('&uartTaskEntry', uartTaskParams);
-
 
 /* ================ Text configuration ================ */
 var Text = xdc.useModule('xdc.runtime.Text');
@@ -549,4 +500,11 @@ driversConfig.libType = driversConfig.LibType_NonInstrumented;
 
 
 
-/* ================ Application Specific Instances ================ */
+/* ================ Task creation ================ */
+var task0Params = new Task.Params();
+task0Params.instance.name = "heartbeat";
+task0Params.arg0 = 1000;
+Program.global.heartbeat = Task.create("&heartBeatFxn", task0Params);
+var task1Params = new Task.Params();
+task1Params.instance.name = "uartconsole";
+Program.global.uartconsole = Task.create("&uart_task_entry", task1Params);

uart_console.c

@@ -19,12 +19,17 @@
 /* Board-specific functions */
 #include "Board.h"
 
+#include "cli.h"
+
 // UART configuration.
 #define BAUD_RATE 115200
 #define UART_DEV Board_UART0
 
-UART_Handle uart;
-UART_Params params;
+static UART_Handle uart;
+static UART_Params params;
+
+static int uart_read(char* in, int n);
+static int uart_write(char* out, int n);
 
 /*
  * PreOS Task for UART console. Sets up uart instance for data transmission,
@@ -34,21 +39,24 @@ UART_Params params;
  */
 void uart_prebios(void)
 {
-    Board_initGPIO();
     Board_initUART();
+    System_printf("Setup UART Device\n");
+    System_flush();
+    /*
+     * UART defaults to text mode, echo back characters, and return from read 
+     * after newline. Default 8 bits, one stop bit, no parity.
+     */
+    UART_Params_init(&params);
+    params.baudRate = BAUD_RATE;
+    params.readReturnMode = UART_RETURN_FULL;
+    // Do not do text manipulation on the data. CLI will handle this.
     params.readDataMode = UART_DATA_BINARY;
     params.writeDataMode = UART_DATA_BINARY;
-    // Block reads until newline received.
-    params.readReturnMode = UART_RETURN_NEWLINE;
-    // Echo all read characters back
-    params.readEcho = UART_ECHO_ON;
-    params.baudRate = BAUD_RATE;
+    params.readEcho = UART_ECHO_OFF;
     uart = UART_open(UART_DEV, &params);
     if (uart == NULL) {
         System_abort("Error opening the UART device");
     }
-    System_printf("Setup UART Device\n");
-    System_flush();
 }
 
 
@@ -58,9 +66,30 @@ void uart_prebios(void)
  * @param arg0 unused
  * @param arg1 unused
  */
-void uartTaskEntry(UArg arg0, UArg arg1)
+void uart_task_entry(UArg arg0, UArg arg1)
 {
-    System_printf("UART task starting\n");
-    System_flush();
+    CLIContext uart_context;
+    cli_context_init(&uart_context, uart_read, uart_write);
+    start_cli(&uart_context); // Does not return.
 }
 
+
+/**
+ * Write data to the UART device.
+ * @param out buffer of data to write to UART device
+ * @param n length of out in bytes.
+ * @return number of byte written to UART.
+ */
+static int uart_write(char* out, int n) {
+    return UART_write(uart, out, n);
+}
+
+/**
+ * Read data from the UART device.
+ * @param in buffer to read data into. Must be "n" bytes or larger.
+ * @param n number of bytes to read.
+ * @return number of bytes read.
+ */
+static int uart_read(char* in, int n) {
+    return UART_read(uart, in, n);
+}

uart_console.h

@@ -0,0 +1,14 @@
+/*
+ * @file uart_console.h
+ * Exposes UART prebios function, and any other required functions from the
+ * UART Console task
+ */
+
+/*
+ * PreOS Task for UART console. Sets up uart instance for data transmission,
+ * and creates UART console task.
+ * UART device on linux will be ttyACM0.
+ * This code MUST be called before the BIOS is started.
+ */
+void uart_prebios(void);
+