upload initial port

5 files changed, 1209 insertions, 0 deletions

diff --git a/ChibiOS_20.3.2/os/various/shell/shell.c b/ChibiOS_20.3.2/os/various/shell/shell.c
new file mode 100644
index 0000000..19db9aa
--- /dev/null
+++ b/ChibiOS_20.3.2/os/various/shell/shell.c
@@ -0,0 +1,604 @@
+/*

+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    shell.c

+ * @brief   Simple CLI shell code.

+ *

+ * @addtogroup SHELL

+ * @{

+ */

+

+#include <string.h>

+

+#include "ch.h"

+#include "hal.h"

+#include "shell.h"

+#include "shell_cmd.h"

+#include "chprintf.h"

+

+/*===========================================================================*/

+/* Module local definitions.                                                 */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module exported variables.                                                */

+/*===========================================================================*/

+

+#if !defined(_CHIBIOS_NIL_) || defined(__DOXYGEN__)

+/**

+ * @brief   Shell termination event source.

+ */

+event_source_t shell_terminated;

+#endif

+

+/*===========================================================================*/

+/* Module local types.                                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local variables.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local functions.                                                   */

+/*===========================================================================*/

+

+static char *parse_arguments(char *str, char **saveptr) {

+  char *p;

+

+  if (str != NULL)

+    *saveptr = str;

+

+  p = *saveptr;

+  if (!p) {

+    return NULL;

+  }

+

+  /* Skipping white space.*/

+  p += strspn(p, " \t");

+

+  if (*p == '"') {

+    /* If an argument starts with a double quote then its delimiter is another

+       quote.*/

+    p++;

+    *saveptr = strpbrk(p, "\"");

+  }

+  else {

+    /* The delimiter is white space.*/

+    *saveptr = strpbrk(p, " \t");

+  }

+

+  /* Replacing the delimiter with a zero.*/

+  if (*saveptr != NULL) {

+    *(*saveptr)++ = '\0';

+  }

+

+  return *p != '\0' ? p : NULL;

+}

+

+static void list_commands(BaseSequentialStream *chp, const ShellCommand *scp) {

+

+  while (scp->sc_name != NULL) {

+    chprintf(chp, "%s ", scp->sc_name);

+    scp++;

+  }

+}

+

+static bool cmdexec(const ShellCommand *scp, BaseSequentialStream *chp,

+                      char *name, int argc, char *argv[]) {

+

+  while (scp->sc_name != NULL) {

+    if (strcmp(scp->sc_name, name) == 0) {

+      scp->sc_function(chp, argc, argv);

+      return false;

+    }

+    scp++;

+  }

+  return true;

+}

+

+#if (SHELL_USE_HISTORY == TRUE) || defined(__DOXYGEN__)

+static void del_histbuff_entry(ShellHistory *shp) {

+  int pos = shp->sh_beg + *(shp->sh_buffer + shp->sh_beg) + 1;

+

+  if (pos >= shp->sh_size)

+    pos -= shp->sh_size;

+

+  shp->sh_beg = pos;

+}

+

+static bool is_histbuff_space(ShellHistory *shp, int length) {

+

+  if (shp->sh_end >= shp->sh_beg) {

+    if (length < (shp->sh_size - (shp->sh_end - shp->sh_beg + 1)))

+      return true;

+  }

+  else {

+    if (length < (shp->sh_beg - shp->sh_end - 1))

+      return true;

+  }

+

+  return false;

+}

+

+static void save_history(ShellHistory *shp, char *line, int length) {

+

+  if (shp == NULL)

+    return;

+

+  if (length > shp->sh_size - 2)

+    return;

+

+  while ((*(line + length -1) == ' ') && (length > 0))

+    length--;

+

+  if (length <= 0)

+    return;

+

+  while (!is_histbuff_space(shp, length))

+    del_histbuff_entry(shp);

+

+  if (length < shp->sh_size - shp->sh_end - 1)

+    memcpy(shp->sh_buffer + shp->sh_end + 1, line, length);

+  else {

+    /*

+     * Since there isn't enough room left at the end of the buffer,

+     * split the line to save up to the end of the buffer and then

+     * wrap back to the beginning of the buffer.

+     */

+    int part_len = shp->sh_size - shp->sh_end - 1;

+    memcpy(shp->sh_buffer + shp->sh_end + 1, line, part_len);

+    memcpy(shp->sh_buffer, line + part_len, length - part_len);

+  }

+

+  /* Save the length of the current line and move the buffer end pointer */

+  *(shp->sh_buffer + shp->sh_end) = (char)length;

+  shp->sh_end += length + 1;

+  if (shp->sh_end >= shp->sh_size)

+    shp->sh_end -= shp->sh_size;

+  *(shp->sh_buffer + shp->sh_end) = 0;

+  shp->sh_cur = 0;

+}

+

+static int get_history(ShellHistory *shp, char *line, int dir) {

+  int count=0;

+

+  if (shp == NULL)

+    return -1;

+

+  /* Count the number of lines saved in the buffer */

+  int idx = shp->sh_beg;

+  while (idx != shp->sh_end) {

+    idx += *(shp->sh_buffer + idx) + 1;

+    if (idx >= shp->sh_size)

+      idx -= shp->sh_size;

+    count++;

+  }

+

+  if (dir == SHELL_HIST_DIR_FW) {

+    if (shp->sh_cur > 0)

+      shp->sh_cur -= 2;

+    else

+      return 0;

+  }

+

+  if (count >= shp->sh_cur) {

+    idx = shp->sh_beg;

+    int i = 0;

+    while (idx != shp->sh_end && shp->sh_cur != (count - i - 1)) {

+      idx += *(shp->sh_buffer + idx) + 1;

+      if (idx >= shp->sh_size)

+        idx -= shp->sh_size;

+      i++;

+    }

+

+    int length = *(shp->sh_buffer + idx);

+

+    if (length > 0) {

+      shp->sh_cur++;

+

+      memset(line, 0, SHELL_MAX_LINE_LENGTH);

+      if ((idx + length) < shp->sh_size) {

+        memcpy(line, (shp->sh_buffer + idx + 1), length);

+      }

+      else {

+        /*

+         * Since the saved line was split at the end of the buffer,

+         * get the line in two parts.

+         */

+        int part_len = shp->sh_size - idx - 1;

+        memcpy(line, shp->sh_buffer + idx + 1, part_len);

+        memcpy(line + part_len, shp->sh_buffer, length - part_len);

+      }

+      return length;

+    }

+    else if (dir == SHELL_HIST_DIR_FW) {

+      shp->sh_cur++;

+      return 0;

+    }

+  }

+  return -1;

+}

+#endif

+

+#if (SHELL_USE_COMPLETION == TRUE) || defined(__DOXYGEN__)

+static void get_completions(ShellConfig *scfg, char *line) {

+  const ShellCommand *lcp = shell_local_commands;

+  const ShellCommand *scp = scfg->sc_commands;

+  char **scmp = scfg->sc_completion;

+  char help_cmp[] = "help";

+

+  if (strstr(help_cmp, line) == help_cmp) {

+    *scmp++ = help_cmp;

+  }

+  while (lcp->sc_name != NULL) {

+    if (strstr(lcp->sc_name, line) == lcp->sc_name) {

+      *scmp++ = (char *)lcp->sc_name;

+    }

+    lcp++;

+  }

+  if (scp != NULL) {

+    while (scp->sc_name != NULL) {

+      if (strstr(scp->sc_name, line) == scp->sc_name) {

+        *scmp++ = (char *)scp->sc_name;

+      }

+      scp++;

+    }

+  }

+

+  *scmp = NULL;

+}

+

+static int process_completions(ShellConfig *scfg, char *line, int length, unsigned size) {

+  char **scmp = scfg->sc_completion;

+  char **cmp = scmp + 1;

+  char *c = line + length;

+  int clen = 0;

+

+  if (*scmp != NULL) {

+    if (*cmp == NULL) {

+      clen = strlen(*scmp);

+      int i = length;

+      while ((c < line + clen) && (c < line + size - 1))

+        *c++ = *(*scmp + i++);

+      if (c < line + size -1) {

+        *c = ' ';

+        clen++;

+      }

+    }

+    else {

+      while (*(*scmp + clen) != 0) {

+        while ((*(*scmp + clen) == *(*cmp + clen)) &&

+               (*(*cmp + clen) != 0) && (*cmp != NULL)) {

+          cmp++;

+        }

+        if (*cmp == NULL) {

+          if ((c < line + size - 1) && (clen >= length))

+            *c++ = *(*scmp + clen);

+          cmp = scmp + 1;

+          clen++;

+        }

+        else {

+          break;

+        }

+      }

+    }

+

+    *(line + clen) = 0;

+  }

+

+  return clen;

+}

+

+static void write_completions(ShellConfig *scfg, char *line, int pos) {

+  BaseSequentialStream *chp = scfg->sc_channel;

+  char **scmp = scfg->sc_completion;

+

+  if (*(scmp + 1) != NULL) {

+    chprintf(chp, SHELL_NEWLINE_STR);

+    while (*scmp != NULL)

+      chprintf(chp, " %s", *scmp++);

+    chprintf(chp, SHELL_NEWLINE_STR);

+

+    chprintf(chp, SHELL_PROMPT_STR);

+    chprintf(chp, "%s", line);

+  }

+  else {

+    chprintf(chp, "%s", line + pos);

+  }

+}

+#endif

+

+/*===========================================================================*/

+/* Module exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Shell thread function.

+ *

+ * @param[in] p         pointer to a @p BaseSequentialStream object

+ */

+THD_FUNCTION(shellThread, p) {

+  int n;

+  ShellConfig *scfg = p;

+  BaseSequentialStream *chp = scfg->sc_channel;

+  const ShellCommand *scp = scfg->sc_commands;

+  char *lp, *cmd, *tokp, line[SHELL_MAX_LINE_LENGTH];

+  char *args[SHELL_MAX_ARGUMENTS + 1];

+

+#if !defined(_CHIBIOS_NIL_)

+  chRegSetThreadName(SHELL_THREAD_NAME);

+#endif

+

+#if SHELL_USE_HISTORY == TRUE

+  *(scfg->sc_histbuf) = 0;

+  ShellHistory hist = {

+                       scfg->sc_histbuf,

+                       scfg->sc_histsize,

+                       0,

+                       0,

+                       0

+  };

+  ShellHistory *shp = &hist;

+#else

+  ShellHistory *shp = NULL;

+#endif

+

+  chprintf(chp, SHELL_NEWLINE_STR);

+  chprintf(chp, "ChibiOS/RT Shell" SHELL_NEWLINE_STR);

+#if !defined(_CHIBIOS_NIL_)

+  while (!chThdShouldTerminateX()) {

+#else

+  while (true) {

+#endif

+    chprintf(chp, SHELL_PROMPT_STR);

+    if (shellGetLine(scfg, line, sizeof(line), shp)) {

+#if (SHELL_CMD_EXIT_ENABLED == TRUE) && !defined(_CHIBIOS_NIL_)

+      chprintf(chp, SHELL_NEWLINE_STR);

+      chprintf(chp, "logout");

+      break;

+#else

+      /* Putting a delay in order to avoid an endless loop trying to read

+         an unavailable stream.*/

+      osalThreadSleepMilliseconds(100);

+#endif

+    }

+    lp = parse_arguments(line, &tokp);

+    cmd = lp;

+    n = 0;

+    while ((lp = parse_arguments(NULL, &tokp)) != NULL) {

+      if (n >= SHELL_MAX_ARGUMENTS) {

+        chprintf(chp, "too many arguments" SHELL_NEWLINE_STR);

+        cmd = NULL;

+        break;

+      }

+      args[n++] = lp;

+    }

+    args[n] = NULL;

+    if (cmd != NULL) {

+      if (strcmp(cmd, "help") == 0) {

+        if (n > 0) {

+          shellUsage(chp, "help");

+          continue;

+        }

+        chprintf(chp, "Commands: help ");

+        list_commands(chp, shell_local_commands);

+        if (scp != NULL)

+          list_commands(chp, scp);

+        chprintf(chp, SHELL_NEWLINE_STR);

+      }

+      else if (cmdexec(shell_local_commands, chp, cmd, n, args) &&

+          ((scp == NULL) || cmdexec(scp, chp, cmd, n, args))) {

+        chprintf(chp, "%s", cmd);

+        chprintf(chp, " ?" SHELL_NEWLINE_STR);

+      }

+    }

+  }

+#if !defined(_CHIBIOS_NIL_)

+  shellExit(MSG_OK);

+#endif

+}

+

+/**

+ * @brief   Shell manager initialization.

+ *

+ * @api

+ */

+void shellInit(void) {

+

+#if !defined(_CHIBIOS_NIL_)

+  chEvtObjectInit(&shell_terminated);

+#endif

+}

+

+#if !defined(_CHIBIOS_NIL_) || defined(__DOXYGEN__)

+/**

+ * @brief   Terminates the shell.

+ * @note    Must be invoked from the command handlers.

+ * @note    Does not return.

+ *

+ * @param[in] msg       shell exit code

+ *

+ * @api

+ */

+void shellExit(msg_t msg) {

+

+  /* Atomically broadcasting the event source and terminating the thread,

+     there is not a chSysUnlock() because the thread terminates upon return.*/

+  chSysLock();

+  chEvtBroadcastI(&shell_terminated);

+  chThdExitS(msg);

+}

+#endif

+

+/**

+ * @brief   Reads a whole line from the input channel.

+ * @note    Input chars are echoed on the same stream object with the

+ *          following exceptions:

+ *          - DEL and BS are echoed as BS-SPACE-BS.

+ *          - CR is echoed as CR-LF.

+ *          - 0x4 is echoed as "^D".

+ *          - Other values below 0x20 are not echoed.

+ *          .

+ *

+ * @param[in] scfg      pointer to a @p ShellConfig object

+ * @param[in] line      pointer to the line buffer

+ * @param[in] size      buffer maximum length

+ * @param[in] shp       pointer to a @p ShellHistory object or NULL

+ * @return              The operation status.

+ * @retval true         the channel was reset or CTRL-D pressed.

+ * @retval false        operation successful.

+ *

+ * @api

+ */

+bool shellGetLine(ShellConfig *scfg, char *line, unsigned size, ShellHistory *shp) {

+  char *p = line;

+  BaseSequentialStream *chp = scfg->sc_channel;

+#if SHELL_USE_ESC_SEQ == TRUE

+  bool escape = false;

+  bool bracket = false;

+#endif

+

+#if SHELL_USE_HISTORY != TRUE

+  (void) shp;

+#endif

+

+  while (true) {

+    char c;

+

+    if (streamRead(chp, (uint8_t *)&c, 1) == 0)

+      return true;

+#if SHELL_USE_ESC_SEQ == TRUE

+    if (c == 27) {

+      escape = true;

+      continue;

+    }

+    if (escape) {

+      escape = false;

+      if (c == '[') {

+        escape = true;

+        bracket = true;

+        continue;

+      }

+      if (bracket) {

+        bracket = false;

+#if SHELL_USE_HISTORY == TRUE

+        if (c == 'A') {

+          int len = get_history(shp, line, SHELL_HIST_DIR_BK);

+

+          if (len > 0) {

+            _shell_reset_cur(chp);

+            _shell_clr_line(chp);

+            chprintf(chp, "%s", line);

+            p = line + len;

+          }

+          continue;

+        }

+        if (c == 'B') {

+          int len = get_history(shp, line, SHELL_HIST_DIR_FW);

+

+          if (len == 0)

+            *line = 0;

+

+          if (len >= 0) {

+            _shell_reset_cur(chp);

+            _shell_clr_line(chp);

+            chprintf(chp, "%s", line);

+            p = line + len;

+          }

+          continue;

+        }

+#endif

+      }

+      continue;

+    }

+#endif

+#if (SHELL_CMD_EXIT_ENABLED == TRUE) && !defined(_CHIBIOS_NIL_)

+    if (c == 4) {

+      chprintf(chp, "^D");

+      return true;

+    }

+#endif

+    if ((c == 8) || (c == 127)) {

+      if (p != line) {

+        streamPut(chp, 0x08);

+        streamPut(chp, 0x20);

+        streamPut(chp, 0x08);

+        p--;

+      }

+      continue;

+    }

+    if (c == '\r') {

+      chprintf(chp, SHELL_NEWLINE_STR);

+#if SHELL_USE_HISTORY == TRUE

+      save_history(shp, line, p - line);

+#endif

+      *p = 0;

+      return false;

+    }

+#if SHELL_USE_COMPLETION == TRUE

+    if (c == '\t') {

+      if (p < line + size - 1) {

+        *p = 0;

+

+        get_completions(scfg, line);

+        int len = process_completions(scfg, line, p - line, size);

+        if (len > 0) {

+          write_completions(scfg, line, p - line);

+          p = line + len;

+        }

+      }

+      continue;

+    }

+#endif

+#if SHELL_USE_HISTORY == TRUE

+    if (c == 14) {

+      int len = get_history(shp, line, SHELL_HIST_DIR_FW);

+

+      if (len == 0)

+        *line = 0;

+

+      if (len >= 0) {

+        _shell_reset_cur(chp);

+        _shell_clr_line(chp);

+        chprintf(chp, "%s", line);

+        p = line + len;

+      }

+      continue;

+    }

+    if (c == 16) {

+      int len = get_history(shp, line, SHELL_HIST_DIR_BK);

+

+      if (len > 0) {

+        _shell_reset_cur(chp);

+        _shell_clr_line(chp);

+        chprintf(chp, "%s", line);

+        p = line + len;

+      }

+      continue;

+    }

+#endif

+    if (c < 0x20)

+      continue;

+    if (p < line + size - 1) {

+      streamPut(chp, c);

+      *p++ = (char)c;

+    }

+  }

+}

+

+/** @} */

diff --git a/ChibiOS_20.3.2/os/various/shell/shell.h b/ChibiOS_20.3.2/os/various/shell/shell.h
new file mode 100644
index 0000000..d11adc0
--- /dev/null
+++ b/ChibiOS_20.3.2/os/various/shell/shell.h
@@ -0,0 +1,235 @@
+/*

+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    shell.h

+ * @brief   Simple CLI shell header.

+ *

+ * @addtogroup SHELL

+ * @{

+ */

+

+#ifndef SHELL_H

+#define SHELL_H

+

+#if defined(SHELL_CONFIG_FILE)

+#include "shellconf.h"

+#endif

+

+/*===========================================================================*/

+/* Module constants.                                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   Shell History Constants

+ */

+#define SHELL_HIST_DIR_BK           0

+#define SHELL_HIST_DIR_FW           1

+

+/*===========================================================================*/

+/* Module pre-compile time settings.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   Shell maximum input line length.

+ */

+#if !defined(SHELL_MAX_LINE_LENGTH) || defined(__DOXYGEN__)

+#define SHELL_MAX_LINE_LENGTH       64

+#endif

+

+/**

+ * @brief   Shell maximum arguments per command.

+ */

+#if !defined(SHELL_MAX_ARGUMENTS) || defined(__DOXYGEN__)

+#define SHELL_MAX_ARGUMENTS         4

+#endif

+

+/**

+ * @brief   Shell maximum command history.

+ */

+#if !defined(SHELL_MAX_HIST_BUFF) || defined(__DOXYGEN__)

+#define SHELL_MAX_HIST_BUFF         8 * SHELL_MAX_LINE_LENGTH

+#endif

+

+/**

+ * @brief   Enable shell command history

+ */

+#if !defined(SHELL_USE_HISTORY) || defined(__DOXYGEN__)

+#define SHELL_USE_HISTORY           FALSE

+#endif

+

+/**

+ * @brief   Enable shell command completion

+ */

+#if !defined(SHELL_USE_COMPLETION) || defined(__DOXYGEN__)

+#define SHELL_USE_COMPLETION        FALSE

+#endif

+

+/**

+ * @brief   Shell Maximum Completions (Set to max commands with common prefix)

+ */

+#if !defined(SHELL_MAX_COMPLETIONS) || defined(__DOXYGEN__)

+#define SHELL_MAX_COMPLETIONS       8

+#endif

+

+/**

+ * @brief   Enable shell escape sequence processing

+ */

+#if !defined(SHELL_USE_ESC_SEQ) || defined(__DOXYGEN__)

+#define SHELL_USE_ESC_SEQ           FALSE

+#endif

+

+/**

+ * @brief   Prompt string

+ */

+#if !defined(SHELL_PROMPT_STR) || defined(__DOXYGEN__)

+#define SHELL_PROMPT_STR            "ch> "

+#endif

+

+/**

+ * @brief   Newline string

+ */

+#if !defined(SHELL_NEWLINE_STR) || defined(__DOXYGEN__)

+#define SHELL_NEWLINE_STR            "\r\n"

+#endif

+

+/**

+ * @brief   Default shell thread name.

+ */

+#if !defined(SHELL_THREAD_NAME) || defined(__DOXYGEN__)

+#define SHELL_THREAD_NAME           "shell"

+#endif

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module data structures and types.                                         */

+/*===========================================================================*/

+

+/**

+ * @brief   Command handler function type.

+ */

+typedef void (*shellcmd_t)(BaseSequentialStream *chp, int argc, char *argv[]);

+

+/**

+ * @brief   Custom command entry type.

+ */

+typedef struct {

+  const char            *sc_name;           /**< @brief Command name.       */

+  shellcmd_t            sc_function;        /**< @brief Command function.   */

+} ShellCommand;

+

+/**

+ * @brief   Shell history type.

+ */

+typedef struct {

+  char                   *sh_buffer;        /**< @brief Buffer to store command

+                                                 history.                   */

+  const int              sh_size;           /**< @brief Shell history buffer

+                                                 size.                      */

+  int                    sh_beg;            /**< @brief Beginning command index

+                                                 in buffer.                 */

+  int                    sh_end;            /**< @brief Ending command index

+                                                 in buffer.                 */

+  int                    sh_cur;            /**< @brief Currently selected

+                                                 command in buffer.         */

+} ShellHistory;

+

+/**

+ * @brief   Shell descriptor type.

+ */

+typedef struct {

+  BaseSequentialStream  *sc_channel;        /**< @brief I/O channel associated

+                                                 to the shell.              */

+  const ShellCommand    *sc_commands;       /**< @brief Shell extra commands

+                                                 table.                     */

+#if (SHELL_USE_HISTORY == TRUE) || defined(__DOXYGEN__)

+  char                  *sc_histbuf;        /**< @brief Shell command history

+                                                 buffer.                    */

+  const int             sc_histsize;        /**< @brief Shell history buffer

+                                                 size.                      */

+#endif

+#if (SHELL_USE_COMPLETION == TRUE) || defined(__DOXYGEN__)

+  char                  **sc_completion;    /**< @brief Shell command completion

+                                                 buffer.                    */

+#endif

+} ShellConfig;

+

+/*===========================================================================*/

+/* Module macros.                                                            */

+/*===========================================================================*/

+

+/**

+ * @brief   Send escape codes to move cursor to the beginning of the line

+ *

+ * @param[in] stream    pointer to a @p BaseSequentialStream object

+ *

+ * @notapi

+ */

+#define _shell_reset_cur(stream) chprintf(stream, "\033[%dD\033[%dC",       \

+                                          SHELL_MAX_LINE_LENGTH +           \

+                                          strlen(SHELL_PROMPT_STR) + 2,     \

+                                          strlen(SHELL_PROMPT_STR))

+

+/**

+ * @brief   Send escape codes to clear the rest of the line

+ *

+ * @param[in] stream    pointer to a @p BaseSequentialStream object

+ *

+ * @notapi

+ */

+#define _shell_clr_line(stream)   chprintf(stream, "\033[K")

+

+/**

+ * @brief   Prints out usage message

+ *

+ * @param[in] stream    pointer to a @p BaseSequentialStream object

+ * @param[in] message   pointer to message string

+ *

+ * @api

+ */

+#define shellUsage(stream, message)                                         \

+  chprintf(stream, "Usage: %s" SHELL_NEWLINE_STR, message)

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#if !defined(__DOXYGEN__)

+extern event_source_t shell_terminated;

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+  void shellInit(void);

+  THD_FUNCTION(shellThread, p);

+  void shellExit(msg_t msg);

+  bool shellGetLine(ShellConfig *scfg, char *line,

+                    unsigned size, ShellHistory *shp);

+#ifdef __cplusplus

+}

+#endif

+

+/*===========================================================================*/

+/* Module inline functions.                                                  */

+/*===========================================================================*/

+

+#endif /* SHELL_H */

+

+/** @} */

diff --git a/ChibiOS_20.3.2/os/various/shell/shell.mk b/ChibiOS_20.3.2/os/various/shell/shell.mk
new file mode 100644
index 0000000..dfe901a
--- /dev/null
+++ b/ChibiOS_20.3.2/os/various/shell/shell.mk
@@ -0,0 +1,9 @@
+# RT Shell files.

+SHELLSRC = $(CHIBIOS)/os/various/shell/shell.c \

+           $(CHIBIOS)/os/various/shell/shell_cmd.c

+

+SHELLINC = $(CHIBIOS)/os/various/shell

+

+# Shared variables

+ALLCSRC += $(SHELLSRC)

+ALLINC  += $(SHELLINC)

diff --git a/ChibiOS_20.3.2/os/various/shell/shell_cmd.c b/ChibiOS_20.3.2/os/various/shell/shell_cmd.c
new file mode 100644
index 0000000..525f269
--- /dev/null
+++ b/ChibiOS_20.3.2/os/various/shell/shell_cmd.c
@@ -0,0 +1,247 @@
+/*

+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    shell_cmd.c

+ * @brief   Simple CLI shell common commands code.

+ *

+ * @addtogroup SHELL

+ * @{

+ */

+

+#include <string.h>

+

+#include "ch.h"

+#include "hal.h"

+#include "shell.h"

+#include "shell_cmd.h"

+#include "chprintf.h"

+

+#if (SHELL_CMD_TEST_ENABLED == TRUE) || defined(__DOXYGEN__)

+#include "rt_test_root.h"

+#include "oslib_test_root.h"

+#endif

+

+/*===========================================================================*/

+/* Module local definitions.                                                 */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module exported variables.                                                */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local types.                                                       */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local variables.                                                   */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module local functions.                                                   */

+/*===========================================================================*/

+

+#if ((SHELL_CMD_EXIT_ENABLED == TRUE) && !defined(_CHIBIOS_NIL_)) ||        \

+    defined(__DOXYGEN__)

+static void cmd_exit(BaseSequentialStream *chp, int argc, char *argv[]) {

+

+  (void)argv;

+  if (argc > 0) {

+    shellUsage(chp, "exit");

+    return;

+  }

+

+  shellExit(MSG_OK);

+}

+#endif

+

+#if (SHELL_CMD_INFO_ENABLED == TRUE) || defined(__DOXYGEN__)

+static void cmd_info(BaseSequentialStream *chp, int argc, char *argv[]) {

+

+  (void)argv;

+  if (argc > 0) {

+    shellUsage(chp, "info");

+    return;

+  }

+

+  chprintf(chp, "Kernel:       %s" SHELL_NEWLINE_STR, CH_KERNEL_VERSION);

+#ifdef PORT_COMPILER_NAME

+  chprintf(chp, "Compiler:     %s" SHELL_NEWLINE_STR, PORT_COMPILER_NAME);

+#endif

+  chprintf(chp, "Architecture: %s" SHELL_NEWLINE_STR, PORT_ARCHITECTURE_NAME);

+#ifdef PORT_CORE_VARIANT_NAME

+  chprintf(chp, "Core Variant: %s" SHELL_NEWLINE_STR, PORT_CORE_VARIANT_NAME);

+#endif

+#ifdef PORT_INFO

+  chprintf(chp, "Port Info:    %s" SHELL_NEWLINE_STR, PORT_INFO);

+#endif

+#ifdef PLATFORM_NAME

+  chprintf(chp, "Platform:     %s" SHELL_NEWLINE_STR, PLATFORM_NAME);

+#endif

+#ifdef BOARD_NAME

+  chprintf(chp, "Board:        %s" SHELL_NEWLINE_STR, BOARD_NAME);

+#endif

+#ifdef __DATE__

+#ifdef __TIME__

+  chprintf(chp, "Build time:   %s%s%s" SHELL_NEWLINE_STR, __DATE__, " - ", __TIME__);

+#endif

+#endif

+}

+#endif

+

+#if (SHELL_CMD_ECHO_ENABLED == TRUE) || defined(__DOXYGEN__)

+static void cmd_echo(BaseSequentialStream *chp, int argc, char *argv[]) {

+

+  (void)argv;

+  if (argc != 1) {

+    shellUsage(chp, "echo \"message\"");

+    return;

+  }

+  chprintf(chp, "%s" SHELL_NEWLINE_STR, argv[0]);

+}

+#endif

+

+#if (SHELL_CMD_SYSTIME_ENABLED == TRUE) || defined(__DOXYGEN__)

+static void cmd_systime(BaseSequentialStream *chp, int argc, char *argv[]) {

+

+  (void)argv;

+  if (argc > 0) {

+    shellUsage(chp, "systime");

+    return;

+  }

+  chprintf(chp, "%lu" SHELL_NEWLINE_STR, (unsigned long)chVTGetSystemTime());

+}

+#endif

+

+#if (SHELL_CMD_MEM_ENABLED == TRUE) || defined(__DOXYGEN__)

+static void cmd_mem(BaseSequentialStream *chp, int argc, char *argv[]) {

+  size_t n, total, largest;

+

+  (void)argv;

+  if (argc > 0) {

+    shellUsage(chp, "mem");

+    return;

+  }

+  n = chHeapStatus(NULL, &total, &largest);

+  chprintf(chp, "core free memory : %u bytes" SHELL_NEWLINE_STR, chCoreGetStatusX());

+  chprintf(chp, "heap fragments   : %u" SHELL_NEWLINE_STR, n);

+  chprintf(chp, "heap free total  : %u bytes" SHELL_NEWLINE_STR, total);

+  chprintf(chp, "heap free largest: %u bytes" SHELL_NEWLINE_STR, largest);

+}

+#endif

+

+#if (SHELL_CMD_THREADS_ENABLED == TRUE) || defined(__DOXYGEN__)

+static void cmd_threads(BaseSequentialStream *chp, int argc, char *argv[]) {

+  static const char *states[] = {CH_STATE_NAMES};

+  thread_t *tp;

+

+  (void)argv;

+  if (argc > 0) {

+    shellUsage(chp, "threads");

+    return;

+  }

+  chprintf(chp, "stklimit    stack     addr refs prio     state         name\r\n" SHELL_NEWLINE_STR);

+  tp = chRegFirstThread();

+  do {

+#if (CH_DBG_ENABLE_STACK_CHECK == TRUE) || (CH_CFG_USE_DYNAMIC == TRUE)

+    uint32_t stklimit = (uint32_t)tp->wabase;

+#else

+    uint32_t stklimit = 0U;

+#endif

+    chprintf(chp, "%08lx %08lx %08lx %4lu %4lu %9s %12s" SHELL_NEWLINE_STR,

+             stklimit, (uint32_t)tp->ctx.sp, (uint32_t)tp,

+             (uint32_t)tp->refs - 1, (uint32_t)tp->prio, states[tp->state],

+             tp->name == NULL ? "" : tp->name);

+    tp = chRegNextThread(tp);

+  } while (tp != NULL);

+}

+#endif

+

+#if (SHELL_CMD_TEST_ENABLED == TRUE) || defined(__DOXYGEN__)

+static THD_FUNCTION(test_rt, arg) {

+  BaseSequentialStream *chp = (BaseSequentialStream *)arg;

+  test_execute(chp, &rt_test_suite);

+}

+

+static THD_FUNCTION(test_oslib, arg) {

+  BaseSequentialStream *chp = (BaseSequentialStream *)arg;

+  test_execute(chp, &oslib_test_suite);

+}

+

+static void cmd_test(BaseSequentialStream *chp, int argc, char *argv[]) {

+  thread_t *tp;

+  tfunc_t tfp;

+

+  (void)argv;

+  if (argc != 1) {

+    shellUsage(chp, "test rt|oslib");

+    return;

+  }

+  if (!strcmp(argv[0], "rt")) {

+    tfp = test_rt;

+  }

+  else if (!strcmp(argv[0], "oslib")) {

+    tfp = test_oslib;

+  }

+  else {

+    shellUsage(chp, "test rt|oslib");

+    return;

+  }

+  tp = chThdCreateFromHeap(NULL, SHELL_CMD_TEST_WA_SIZE,

+                           "test", chThdGetPriorityX(),

+                           tfp, chp);

+  if (tp == NULL) {

+    chprintf(chp, "out of memory" SHELL_NEWLINE_STR);

+    return;

+  }

+  chThdWait(tp);

+}

+#endif

+

+/*===========================================================================*/

+/* Module exported functions.                                                */

+/*===========================================================================*/

+

+/**

+ * @brief   Array of the default commands.

+ */

+const ShellCommand shell_local_commands[] = {

+#if (SHELL_CMD_EXIT_ENABLED == TRUE) && !defined(_CHIBIOS_NIL_)

+  {"exit", cmd_exit},

+#endif

+#if SHELL_CMD_INFO_ENABLED == TRUE

+  {"info", cmd_info},

+#endif

+#if SHELL_CMD_ECHO_ENABLED == TRUE

+  {"echo", cmd_echo},

+#endif

+#if SHELL_CMD_SYSTIME_ENABLED == TRUE

+  {"systime", cmd_systime},

+#endif

+#if SHELL_CMD_MEM_ENABLED == TRUE

+  {"mem", cmd_mem},

+#endif

+#if SHELL_CMD_THREADS_ENABLED == TRUE

+  {"threads", cmd_threads},

+#endif

+#if SHELL_CMD_TEST_ENABLED == TRUE

+  {"test", cmd_test},

+#endif

+  {NULL, NULL}

+};

+

+/** @} */

diff --git a/ChibiOS_20.3.2/os/various/shell/shell_cmd.h b/ChibiOS_20.3.2/os/various/shell/shell_cmd.h
new file mode 100644
index 0000000..f913822
--- /dev/null
+++ b/ChibiOS_20.3.2/os/various/shell/shell_cmd.h
@@ -0,0 +1,114 @@
+/*

+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio

+

+    Licensed under the Apache License, Version 2.0 (the "License");

+    you may not use this file except in compliance with the License.

+    You may obtain a copy of the License at

+

+        http://www.apache.org/licenses/LICENSE-2.0

+

+    Unless required by applicable law or agreed to in writing, software

+    distributed under the License is distributed on an "AS IS" BASIS,

+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

+    See the License for the specific language governing permissions and

+    limitations under the License.

+*/

+

+/**

+ * @file    shell_cmd.h

+ * @brief   Simple CLI shell common commands header.

+ *

+ * @addtogroup SHELL

+ * @{

+ */

+

+#ifndef SHELLCMD_H

+#define SHELLCMD_H

+

+/*===========================================================================*/

+/* Module constants.                                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module pre-compile time settings.                                         */

+/*===========================================================================*/

+

+#if !defined(SHELL_CMD_EXIT_ENABLED) || defined(__DOXYGEN__)

+#define SHELL_CMD_EXIT_ENABLED              TRUE

+#endif

+

+#if !defined(SHELL_CMD_INFO_ENABLED) || defined(__DOXYGEN__)

+#define SHELL_CMD_INFO_ENABLED              TRUE

+#endif

+

+#if !defined(SHELL_CMD_ECHO_ENABLED) || defined(__DOXYGEN__)

+#define SHELL_CMD_ECHO_ENABLED              TRUE

+#endif

+

+#if !defined(SHELL_CMD_SYSTIME_ENABLED) || defined(__DOXYGEN__)

+#define SHELL_CMD_SYSTIME_ENABLED           TRUE

+#endif

+

+#if !defined(SHELL_CMD_MEM_ENABLED) || defined(__DOXYGEN__)

+#define SHELL_CMD_MEM_ENABLED               TRUE

+#endif

+

+#if !defined(SHELL_CMD_THREADS_ENABLED) || defined(__DOXYGEN__)

+#define SHELL_CMD_THREADS_ENABLED           TRUE

+#endif

+

+#if !defined(SHELL_CMD_TEST_ENABLED) || defined(__DOXYGEN__)

+#define SHELL_CMD_TEST_ENABLED              TRUE

+#endif

+

+#if !defined(SHELL_CMD_TEST_WA_SIZE) || defined(__DOXYGEN__)

+#define SHELL_CMD_TEST_WA_SIZE              THD_WORKING_AREA_SIZE(256)

+#endif

+

+/*===========================================================================*/

+/* Derived constants and error checks.                                       */

+/*===========================================================================*/

+

+#if (SHELL_CMD_MEM_ENABLED == TRUE) && (CH_CFG_USE_MEMCORE == FALSE)

+#error "SHELL_CMD_MEM_ENABLED requires CH_CFG_USE_MEMCORE"

+#endif

+

+#if (SHELL_CMD_MEM_ENABLED == TRUE) && (CH_CFG_USE_HEAP == FALSE)

+#error "SHELL_CMD_MEM_ENABLED requires CH_CFG_USE_HEAP"

+#endif

+

+#if (SHELL_CMD_THREADS_ENABLED == TRUE) && (CH_CFG_USE_REGISTRY == FALSE)

+#error "SHELL_CMD_THREADS_ENABLED requires CH_CFG_USE_REGISTRY"

+#endif

+

+/*===========================================================================*/

+/* Module data structures and types.                                         */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* Module macros.                                                            */

+/*===========================================================================*/

+

+/*===========================================================================*/

+/* External declarations.                                                    */

+/*===========================================================================*/

+

+#if !defined(__DOXYGEN__)

+extern const ShellCommand shell_local_commands[];

+#endif

+

+#ifdef __cplusplus

+extern "C" {

+#endif

+

+#ifdef __cplusplus

+}

+#endif

+

+/*===========================================================================*/

+/* Module inline functions.                                                  */

+/*===========================================================================*/

+

+#endif /* SHELLCMD_H */

+

+/** @} */