initHEADmaster

5 files changed, 1210 insertions, 0 deletions

diff --git a/lib/chibios/os/various/shell/shell.c b/lib/chibios/os/various/shell/shell.c
new file mode 100644
index 000000000..7e9b98f9d
--- /dev/null
+++ b/lib/chibios/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/lib/chibios/os/various/shell/shell.h b/lib/chibios/os/various/shell/shell.h
new file mode 100644
index 000000000..6ea555a1d
--- /dev/null
+++ b/lib/chibios/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/lib/chibios/os/various/shell/shell.mk b/lib/chibios/os/various/shell/shell.mk
new file mode 100644
index 000000000..66a9d6bea
--- /dev/null
+++ b/lib/chibios/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/lib/chibios/os/various/shell/shell_cmd.c b/lib/chibios/os/various/shell/shell_cmd.c
new file mode 100644
index 000000000..45ff5194c
--- /dev/null
+++ b/lib/chibios/os/various/shell/shell_cmd.c
@@ -0,0 +1,248 @@
+/*
+    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->hdr.pqueue.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/lib/chibios/os/various/shell/shell_cmd.h b/lib/chibios/os/various/shell/shell_cmd.h
new file mode 100644
index 000000000..06e4f90e1
--- /dev/null
+++ b/lib/chibios/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 */
+
+/** @} */