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使用Platformio平臺的libopencm3開發框架來開發STM32G0，以下為FreeRTOS和CLI組件使用。

1 新建項目

建立freertos_cli項目

在PIO的Home頁面新建項目，項目名稱freertos_cli，選擇開發板為 MonkeyPi_STM32_G070RB，開發框架選擇libopencm3；

項目建立完成后在src目錄下新建main.c主程序文件；
修改下載和調試方式，這里開發板使用的是DAPLink仿真器，因此修改platformio.ini文件如下：

1upload_protocol = cmsis-dap
2debug_tool = cmsis-dap

2 編寫程序

直接在之前的文章-FreeRTOS基本使用基礎上進行添加，在項目中添加好FreeRTOS源碼后，再將FreeRTOS源碼中的 FreeRTOS-Plus\\Source\\FreeRTOS-Plus-CLI 目錄放置到項目lib目錄下，目錄如下：

image-20220927232611980

2.1 串口設置

1void uart_setup(void)
 2{
 3
 4    //uart pin
 5    rcc_periph_clock_enable(RCC_USART1);
 6    rcc_periph_clock_enable(RCC_GPIOB);
 7
 8    gpio_mode_setup(GPIOB,GPIO_MODE_AF,GPIO_PUPD_NONE,GPIO6|GPIO7);
 9    gpio_set_af(GPIOB,GPIO_AF0,GPIO6|GPIO7);
10
11    usart_set_baudrate(USART1,115200);
12    usart_set_databits(USART1,8);
13    usart_set_stopbits(USART1,USART_STOPBITS_1);
14    usart_set_parity(USART1,USART_PARITY_NONE);
15    usart_set_flow_control(USART1,USART_FLOWCONTROL_NONE);
16    usart_set_mode(USART1,USART_MODE_TX_RX);
17
18    //uart isr
19    nvic_enable_irq(NVIC_USART1_IRQ);
20
21    usart_enable(USART1);
22
23    usart_enable_rx_interrupt(USART1);
24}
25
26/**
27 * @brief uart1 isr function
28 * 
29 */
30void usart1_isr(void)
31{
32    //receive interrupt
33    if (((USART_CR1(USART1) & USART_CR1_RXNEIE) != 0) &&
34        ((USART_ISR(USART1) & USART_ISR_RXNE) != 0)) {
35
36        char c = usart_recv(USART1);
37
38        xQueueSendFromISR(uart_queue, &c, NULL);
39    }
40}

開啟出口中斷，并在串口接收到數據時候發送到隊列；

2.2 命令程序

編寫執行命令后要進行的動作函數，這里為了簡單直接打印一個信息：

1static BaseType_t prvHelloCommand( 
 2    int8_t *pcWriteBuffer, 
 3    size_t xWriteBufferLen,
 4    const int8_t *pcCommandString ) 
 5{
 6
 7    sprintf(pcWriteBuffer, "hello world command");
 8
 9    /* Execution of this command is complete, so return pdFALSE. */
10    return pdFALSE;
11}

pcWriteBuffer 參數為要寫入的信息；
xWriteBufferLen 參數為寫入的緩沖大小；
pcCommandString 為整個命令字符串指針，可以使用 FreeRTOS_CLIGetParameter 來獲取命令的參數；

2.3 命令和函數進行映射

1static const CLI_Command_Definition_t xHelloCommand = 
2{
3    "hello",
4    "\\r\\nhello:\\r\\n This is a hello command for testing\\r\\n",
5    prvHelloCommand,
6    0
7};

第一個參數為命令名字；
第二個參數為命令描述；
第三個參數為命令所需要的參數個數；

2.4 注冊命令

1    //register cli command
2    FreeRTOS_CLIRegisterCommand(&xHelloCommand);

2.5 命令任務

建立一個任務，用于處理CLI輸入輸出：

1static void hello_cli_task(void *args)
  2{
  3    //register cli command
  4    FreeRTOS_CLIRegisterCommand(&xHelloCommand);
  5
  6    char *outbuff;
  7    static int8_t inbuff[64];
  8    static int8_t lastinbuff[64];
  9    uint8_t index =  0;
 10    BaseType_t ret;
 11
 12    outbuff = FreeRTOS_CLIGetOutputBuffer();
 13
 14    printf(">");//command prompt
 15    fflush(stdout);
 16    // printf("\\r\\n");
 17
 18    char c;
 19
 20    while(1){
 21
 22        if( xQueueReceive(uart_queue, &c, 5) == pdPASS) {
 23            printf("%c",c);//echo
 24            fflush(stdout);
 25
 26            /* Was it the end of the line? */
 27            if( c == '\\n' || c == '\\r' )
 28            {
 29                printf("\\r\\n");
 30                fflush(stdout);
 31
 32                /* See if the command is empty, indicating that the last command is to be executed again. */
 33                if( index == 0 )
 34                {
 35                    /* Copy the last command back into the input string. */
 36                    strcpy( inbuff, lastinbuff );
 37                }
 38
 39                /* Pass the received command to the command interpreter.  The
 40                command interpreter is called repeatedly until it returns
 41                pdFALSE    (indicating there is no more output) as it might
 42                generate more than one string. */
 43                do
 44                {
 45                    /* Get the next output string from the command interpreter. */
 46                    ret = FreeRTOS_CLIProcessCommand( inbuff, outbuff, configCOMMAND_INT_MAX_OUTPUT_SIZE );
 47
 48                    /* Write the generated string to the UART. */
 49                    printf("%s",outbuff);
 50                    fflush(stdout);
 51
 52                } while( ret != pdFALSE );
 53
 54                /* All the strings generated by the input command have been
 55                sent.  Clear the input string ready to receive the next command.
 56                Remember the command that was just processed first in case it is
 57                to be processed again. */
 58                strcpy( lastinbuff, inbuff );
 59                index = 0;
 60                memset( inbuff, 0x00, 64 );
 61
 62                printf("\\r\\n>");
 63                fflush(stdout);
 64
 65            }
 66            else
 67            {
 68                if( c == '\\r' )
 69                {
 70                    /* Ignore the character. */
 71                }
 72                else if( ( c == '\\b' ) || ( c == 0x7f ) )//del
 73                {
 74                    /* Backspace was pressed.  Erase the last character in the
 75                    string - if any. */
 76                    if( index > 0 )
 77                    {
 78                        index--;
 79                        inbuff[ index ] = '\\0';
 80                    }
 81                }
 82                else
 83                {
 84                    /* A character was entered.  Add it to the string entered so
 85                    far.  When a \\n is entered the complete string will be
 86                    passed to the command interpreter. */
 87                    if( ( c >= ' ' ) && ( c <= '~' ) )
 88                    {
 89                        if( index < 64 )
 90                        {
 91                            inbuff[ index ] = c;
 92                            index++;
 93                        }
 94                    }
 95                }
 96            }
 97
 98        }
 99    }
100
101}