FreeRTOS提供多种软件组件为用户提供不同的功能，这里介绍如何移植其中的FreeRTOS-CLI命令行工具到RA6M4开发板上。

1、工程配置

参考下面的帖子中创建工程的过程，初始化开发板的串口外设。

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不同的地方是在RTOS Selection界面选择FreeRTOS。

工程中添加一个FreeRTOS任务，并设置任务的相关属性，并设置内存分配方式为动态分配。

在配置中设置自定义的FreeRTOSConfig.h文件路径，可以在工程中使用自定义的FreeRTOSConfig.h文件来配置FreeRTOS功能。

同时添加串口模块，并设置串口模块的参数。

2、 移植FreeRTOS-CLI

在FreeRTOS仓库的FreeRTOS-Plus/Source/FreeRTOS-Plus-CLI路径中有FreeRTOS_CLI的源代码。

在工程目录中添加Drivers文件夹用于存放CLI和串口相关的代码，文件夹的结构如下图所示。

在Keil中添加文件到工程中

uart_ep.c/h实现uart9的初始化和中断函数

/*******************************************************************************************************************//**
 * [url=home.php?mod=space&uid=2666770]@Brief[/url]       Initialize  UART.
 * @param[in]   None
 * @retval      FSP_SUCCESS         Upon successful open and start of timer
 * @retval      Any Other Error code apart from FSP_SUCCESS  Unsuccessful open
 ***********************************************************************************************************************/
fsp_err_t uart_initialize(void)
{
    fsp_err_t err = FSP_SUCCESS;

    /* Initialize UART channel with baud rate 115200 */
#if (BSP_FEATURE_SCI_VERSION == 2U)
    err = R_SCI_B_UART_Open (&g_uart9_ctrl, &g_uart9_cfg);
#else
    err = R_SCI_UART_Open (&g_uart9_ctrl, &g_uart9_cfg);
#endif
    if (FSP_SUCCESS != err)
    {
        
    }
    return err;
}

/*******************************************************************************************************************//**
 *  @brief       Deinitialize SCI UART module
 *  @param[in]   None
 *  @retval      None
 **********************************************************************************************************************/
void deinit_uart(void)
{
    fsp_err_t err = FSP_SUCCESS;

    /* Close module */
#if (BSP_FEATURE_SCI_VERSION == 2U)
    err =  R_SCI_B_UART_Close (&g_uart9_ctrl);
#else
    err =  R_SCI_UART_Close (&g_uart9_ctrl);
#endif
}

/*****************************************************************************************************************
 *  @brief      UART user callback
 *  @param[in]  p_args
 *  @retval     None
 ****************************************************************************************************************/
void user_uart9_callback(uart_callback_args_t *p_args)
{
    /* Logged the event in global variable */
    g_uart_event = (uint8_t)p_args->event;

    /* Reset g_temp_buffer index if it exceeds than buffer size */
    if(DATA_LENGTH == g_counter_var)
    {
        g_counter_var = RESET_VALUE;
    }

		if(UART_EVENT_TX_COMPLETE == p_args->event )
    {
        uart_send_complete_flag = true;
    }   
		
    if(UART_EVENT_RX_CHAR == p_args->event)
    {
			  //send the char to the command line task
				cli_recv=p_args->data;
				xTaskNotifyFromISR(cli_command_task, (uint32_t)cli_recv, eSetValueWithOverwrite , NULL);
    }
}


int fputc(int ch, FILE *f)
{
		(void)f;
	
    fsp_err_t err = FSP_SUCCESS;
    err = R_SCI_UART_Write(&g_uart9_ctrl, (uint8_t *)&ch, 1);
    if(FSP_SUCCESS != err) __BKPT();
    while(uart_send_complete_flag == false){}
    uart_send_complete_flag = false;
    return ch;
}

cli_app.h中声明几个用户应用的函数

#ifndef INC_CLI_APP_H_
#define INC_CLI_APP_H_

#include "stdint.h"

void processRxedChar(uint8_t rxChar);
void handleNewline(const char *const pcInputString, char *cOutputBuffer, uint8_t *cInputIndex);
void handleCharacterInput(uint8_t *cInputIndex, char *pcInputString);
void vRegisterCLICommands(void);
void vCommandConsoleTask(void *pvParameters);

#endif /* INC_CLI_APP_H_ */

cli_app.c中添加以下头文件、宏定义以及不同变量。

#include "FreeRTOS.h"
#include "task.h"
#include "FreeRTOS_CLI.h"
#include "cli_app.h"

#include "stdbool.h"
#include "string.h"
#include <stdio.h> 
#include <stdlib.h>
#include <stdint.h>
#include "uart_ep.h"

#include "hal_data.h"

#define MAX_INPUT_LENGTH 50
#define USING_VS_CODE_TERMINAL 0
#define USING_OTHER_TERMINAL 1 // e.g. Putty, TerraTerm
char cOutputBuffer[configCOMMAND_INT_MAX_OUTPUT_SIZE], pcInputString[MAX_INPUT_LENGTH];
int8_t cRxedChar;
const char * cli_prompt = "\r\ncli> ";
/* CLI escape sequences*/
uint8_t backspace[] = "\b \b";
uint8_t backspace_tt[] = " \b";

上述代码中的configCOMMAND_INT_MAX_OUTPUT_SIZE需要在自定义的FreeRTOSConfig.h中添加该宏定义如下

#define configCOMMAND_INT_MAX_OUTPUT_SIZE 200

添加两个注册指令以及相关的指令数组，用于CLI注册指令，一个指令的功能为清屏，一个指令功能为两数相加并返回求和结果。同时封装函数注册流程到函数vRegisterCLICommands中。

BaseType_t cmd_clearScreen(char *pcWriteBuffer, size_t xWriteBufferLen,
                                  const char *pcCommandString)
{
    /* Remove compile time warnings about unused parameters, and check the
	write buffer is not NULL.  NOTE - for simplicity, this example assumes the
	write buffer length is adequate, so does not check for buffer overflows. */
    (void)pcCommandString;
    (void)xWriteBufferLen;
    memset(pcWriteBuffer, 0x00, xWriteBufferLen);
    printf("\033[2J\033[1;1H");
    return pdFALSE;
}

//*****************************************************************************
BaseType_t cmd_add(char *pcWriteBuffer, size_t xWriteBufferLen,
                                 const char *pcCommandString)
{
    char *pcParameter1, *pcParameter2;
    BaseType_t xParameter1StringLength, xParameter2StringLength;

    /* Obtain the name of the source file, and the length of its name, from
    the command string. The name of the source file is the first parameter. */
    pcParameter1 = FreeRTOS_CLIGetParameter
                        (
                          /* The command string itself. */
                          pcCommandString,
                          /* Return the first parameter. */
                          1,
                          /* Store the parameter string length. */
                          &xParameter1StringLength
                        );
    pcParameter2 = FreeRTOS_CLIGetParameter
                        (
                          /* The command string itself. */
                          pcCommandString,
                          /* Return the first parameter. */
                          2,
                          /* Store the parameter string length. */
                          &xParameter2StringLength
                        );
    // convert the string to a number
    int32_t xValue1 = strtol(pcParameter1, NULL, 10);
    int32_t xValue2 = strtol(pcParameter2, NULL, 10);
    // add the two numbers
    int32_t xResultValue = xValue1 + xValue2;
    // convert the result to a string
    char cResultString[10];
    sprintf(cResultString,"%d",xResultValue);
    // copy the result to the write buffer
    strcpy(pcWriteBuffer, cResultString);

    return pdFALSE;
}


const CLI_Command_Definition_t xCommandList[] = {
    {
        .pcCommand = "cls", /* The command string to type. */
        .pcHelpString = "cls:\r\n Clears screen\r\n\r\n",
        .pxCommandInterpreter = cmd_clearScreen, /* The function to run. */
        .cExpectedNumberOfParameters = 0 /* No parameters are expected. */
    },
    {
        .pcCommand = "add", /* The command string to type. */
        .pcHelpString = "add n:\r\n add two numbers\r\n\r\n",
        .pxCommandInterpreter = cmd_add, /* The function to run. */
        .cExpectedNumberOfParameters = 2 /* 2 parameters are expected. */
    },
    {
        .pcCommand = NULL /* simply used as delimeter for end of array*/
    }
};

//注册函数到CLI中
void vRegisterCLICommands(void){
    //itterate thourgh the list of commands and register them
    for (int i = 0; xCommandList[i].pcCommand != NULL; i++)
    {
        FreeRTOS_CLIRegisterCommand(&xCommandList[i]);
    }
}

定义处理换行符并调用FreeRTOS_CLIProcessCommand执行指令解析、回车符以及输入字符串处理函数，用于处理从串口接收的字符串信息。

void cliWrite(const char *str)
{
   printf("%s", str);
   // flush stdout
   fflush(stdout);
}
/*************************************************************************************************/
void handleNewline(const char *const pcInputString, char *cOutputBuffer, uint8_t *cInputIndex)
{
    cliWrite("\r\n");

    BaseType_t xMoreDataToFollow;
    do
    {
        xMoreDataToFollow = FreeRTOS_CLIProcessCommand(pcInputString, cOutputBuffer, configCOMMAND_INT_MAX_OUTPUT_SIZE);
        cliWrite(cOutputBuffer);
    } while (xMoreDataToFollow != pdFALSE);

    cliWrite(cli_prompt);
    *cInputIndex = 0;
    memset((void*)pcInputString, 0x00, MAX_INPUT_LENGTH);
}
/*************************************************************************************************/
void handleBackspace(uint8_t *cInputIndex, char *pcInputString)
{
    if (*cInputIndex > 0)
    {
        (*cInputIndex)--;
        pcInputString[*cInputIndex] = '\0';

#if USING_VS_CODE_TERMINAL
        cliWrite((char *)backspace);
#elif USING_OTHER_TERMINAL
        cliWrite((char *)backspace_tt);
#endif
    }
    else
    {
#if USING_OTHER_TERMINAL
        uint8_t right[] = "\x1b\x5b\x43";
        cliWrite((char *)right);
#endif
    }
}
/*************************************************************************************************/
void handleCharacterInput(uint8_t *cInputIndex, char *pcInputString)
{
    if (cRxedChar == '\r')
    {
        return;
    }
    else if (cRxedChar == (uint8_t)0x08 || cRxedChar == (uint8_t)0x7F)
    {
        handleBackspace(cInputIndex, pcInputString);
    }
    else
    {
        if (*cInputIndex < MAX_INPUT_LENGTH)
        {
            pcInputString[*cInputIndex] = cRxedChar;
            (*cInputIndex)++;
        }
    }
}

最后，定义控制台指令任务函数，调用上述定义好的函数，实现指令注册以及后续的字符接收处理流程。

void vCommandConsoleTask(void *pvParameters)
{
    uint8_t cInputIndex = 0; // simply used to keep track of the index of the input string
    uint32_t receivedValue; // used to store the received value from the notification
    FSP_PARAMETER_NOT_USED(pvParameters);
    vRegisterCLICommands();

    for (;;)
    {
        xTaskNotifyWait(pdFALSE,    // Don't clear bits on entry
                                  0,  // Clear all bits on exit
                                  &receivedValue, // Receives the notification value
                                  portMAX_DELAY); // Wait indefinitely
        //echo recevied char
        cRxedChar = receivedValue & 0xFF;
        cliWrite((char *)&cRxedChar);
        if (cRxedChar == '\r' || cRxedChar == '\n')
        {
            // user pressed enter, process the command
            handleNewline(pcInputString, cOutputBuffer, &cInputIndex);
        }
        else
        {
            // user pressed a character add it to the input string
            handleCharacterInput(&cInputIndex, pcInputString);
        }
    }
}

在生成的cli_thread_entry中初始化串口，创建运行vCommandConsoleTask的FreeRTOS任务对串口接收到的字符串进行指令解析。

void cli_thread_entry(void * pvParameters)
{
		fsp_err_t err = FSP_SUCCESS;
    /* Initializing UART */
    err = uart_initialize();

    BaseType_t cli_thread_create_err = xTaskCreate(
            vCommandConsoleTask,
            (const char *)"UART_CLI",
            1024/4, // In words, not bytes
            0, //pvParameters
            1,
            &cli_command_task
    );

    while(1)
    {
        vTaskDelay(1000);
        //printf("Hello World!\r\n");
    }
}

3、运行效果

编译并下载程序后，串口控制台的运行效果如视频所示。

4、总结

FreeRTOS-CLI对使用FreeRTOS的用户来说，提供一种串口调试函数的方式，本文介绍如何在RA6M4上移植FreeRTOS-CLI，实现串口控制台实现不同的控制指令。