/*
    FreeRTOS V8.0.1 - Copyright (C) 2014 Real Time Engineers Ltd. 
    All rights reserved

    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS provides completely free yet professionally developed,    *
     *    robust, strictly quality controlled, supported, and cross          *
     *    platform software that has become a de facto standard.             *
     *                                                                       *
     *    Help yourself get started quickly and support the FreeRTOS         *
     *    project by purchasing a FreeRTOS tutorial book, reference          *
     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
     *                                                                       *
     *    Thank you!                                                         *
     *                                                                       *
    ***************************************************************************

    This file is part of the FreeRTOS distribution.

    FreeRTOS is free software; you can redistribute it and/or modify it under
    the terms of the GNU General Public License (version 2) as published by the
    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.

    >>!   NOTE: The modification to the GPL is included to allow you to     !<<
    >>!   distribute a combined work that includes FreeRTOS without being   !<<
    >>!   obliged to provide the source code for proprietary components     !<<
    >>!   outside of the FreeRTOS kernel.                                   !<<

    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
    link: http://www.freertos.org/a00114.html

    1 tab == 4 spaces!

    ***************************************************************************
     *                                                                       *
     *    Having a problem?  Start by reading the FAQ "My application does   *
     *    not run, what could be wrong?"                                     *
     *                                                                       *
     *    http://www.FreeRTOS.org/FAQHelp.html                               *
     *                                                                       *
    ***************************************************************************

    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
    license and Real Time Engineers Ltd. contact details.

    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
    compatible FAT file system, and our tiny thread aware UDP/IP stack.

    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
    licenses offer ticketed support, indemnification and middleware.

    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
    engineered and independently SIL3 certified version for use in safety and
    mission critical applications that require provable dependability.

    1 tab == 4 spaces!
*/


/*
	NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
	The processor MUST be in supervisor mode when vTaskStartScheduler is
	called.  The demo applications included in the FreeRTOS.org download switch
	to supervisor mode prior to main being called.  If you are not using one of
	these demo application projects then ensure Supervisor mode is used.
*/


/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the demo application tasks.
 *
 * Main.c also creates a task called "Check".  This only executes every three
 * seconds but has the highest priority so is guaranteed to get processor time.
 * Its main function is to check that all the other tasks are still operational.
 * Each task (other than the "flash" tasks) maintains a unique count that is
 * incremented each time the task successfully completes its function.  Should
 * any error occur within such a task the count is permanently halted.  The
 * check task inspects the count of each task to ensure it has changed since
 * the last time the check task executed.  If all the count variables have
 * changed all the tasks are still executing error free, and the check task
 * toggles the onboard LED.  Should any task contain an error at any time
 * the LED toggle rate will change from 3 seconds to 500ms.
 *
 */

/* Standard includes. */
#include <stdlib.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Demo application includes. */
#include "flash.h"
#include "integer.h"
#include "PollQ.h"
#include "BlockQ.h"
#include "semtest.h"
#include "dynamic.h"
#include "partest.h"
#include "comtest2.h"

/* Priorities for the demo application tasks. */
#define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )
#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )

/* Constants required by the 'Check' task. */
#define mainNO_ERROR_FLASH_PERIOD	( ( TickType_t ) 3000 / portTICK_PERIOD_MS  )
#define mainERROR_FLASH_PERIOD		( ( TickType_t ) 500 / portTICK_PERIOD_MS  )
#define mainCHECK_TASK_LED			( 7 )

/* Constants for the ComTest tasks. */
#define mainCOM_TEST_BAUD_RATE		( ( unsigned long ) 115200 )
#define mainCOM_TEST_LED			( 4 )
#define mainTX_ENABLE				( ( unsigned long ) 0x0001 )
#define mainRX_ENABLE				( ( unsigned long ) 0x0004 )

/* Constants to setup the PLL. */
#define mainPLL_MUL_5				( ( unsigned char ) 0x0004 )
#define mainPLL_DIV_1				( ( unsigned char ) 0x0000 )
#define mainPLL_ENABLE				( ( unsigned char ) 0x0001 )
#define mainPLL_CONNECT				( ( unsigned char ) 0x0003 )
#define mainPLL_FEED_BYTE1			( ( unsigned char ) 0xaa )
#define mainPLL_FEED_BYTE2			( ( unsigned char ) 0x55 )
#define mainPLL_LOCK				( ( unsigned long ) 0x0400 )

/* Constants to setup the MAM. */
#define mainMAM_TIM_3				( ( unsigned char ) 0x03 )
#define mainMAM_MODE_FULL			( ( unsigned char ) 0x02 )

/* Constants to setup the peripheral bus. */
#define mainBUS_CLK_FULL			( ( unsigned char ) 0x01 )

/* And finally, constant to setup the port for the LED's. */
#define mainLED_TO_OUTPUT			( ( unsigned long ) 0xff0000 )

/*
 * The task that executes at the highest priority and calls
 * prvCheckOtherTasksAreStillRunning().  See the description at the top
 * of the file.
 */
static void vErrorChecks( void *pvParameters );

/*
 * Configures the processor for use with this demo.
 */
static void prvSetupHardware( void );

/*
 * Checks that all the demo application tasks are still executing without error
 * - as described at the top of the file.
 */
static long prvCheckOtherTasksAreStillRunning( void );


/*-----------------------------------------------------------*/

/*
 * Starts all the other tasks, then starts the scheduler.
 */
void main( void )
{
	/* Setup the processor. */
	prvSetupHardware();

	/* Start all the standard demo application tasks. */
	vStartIntegerMathTasks( tskIDLE_PRIORITY );
	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vStartDynamicPriorityTasks();
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
		
	/* Start the check task - which is defined in this file. */
	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Start the scheduler.

	NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
	The processor MUST be in supervisor mode when vTaskStartScheduler is
	called.  The demo applications included in the FreeRTOS.org download switch
	to supervisor mode prior to main being called.  If you are not using one of
	these demo application projects then ensure Supervisor mode is used here.
	*/
	vTaskStartScheduler();

	/* We should never get here as control is now taken by the scheduler. */
  	return;
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	/* Setup the PLL to multiply the XTAL input by 5. */
	PLLCFG = ( mainPLL_MUL_5 | mainPLL_DIV_1 );

	/* Activate the PLL by turning it on then feeding the correct sequence of
	bytes. */
	PLLCON = mainPLL_ENABLE;
	PLLFEED = mainPLL_FEED_BYTE1;
	PLLFEED = mainPLL_FEED_BYTE2;

	/* Wait for the PLL to lock... */
	while( !( PLLSTAT & mainPLL_LOCK ) );

	/* ...before connecting it using the feed sequence again. */
	PLLCON = mainPLL_CONNECT;
	PLLFEED = mainPLL_FEED_BYTE1;
	PLLFEED = mainPLL_FEED_BYTE2;

	/* Setup and turn on the MAM.  Three cycle access is used due to the fast
	PLL used.  It is possible faster overall performance could be obtained by
	tuning the MAM and PLL settings. */
	MAMTIM = mainMAM_TIM_3;
	MAMCR = mainMAM_MODE_FULL;

	/* Setup the peripheral bus to be the same as the PLL output. */
	APBDIV = mainBUS_CLK_FULL;
	
	/* Configure the RS2332 pins.  All other pins remain at their default of 0. */
	PINSEL0 |= mainTX_ENABLE;
	PINSEL0 |= mainRX_ENABLE;

	/* LED pins need to be output. */
	IO1DIR = mainLED_TO_OUTPUT;

	/* Setup the peripheral bus to be the same as the PLL output. */
	APBDIV = mainBUS_CLK_FULL;
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void *pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;

	/* The parameters are not used in this task. */
	( void ) pvParameters;

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error.  If an error is detected then the delay period
	is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
	the on board LED flash rate will increase. */

	for( ;; )
	{
		/* Delay until it is time to execute again. */
		vTaskDelay( xDelayPeriod );
	
		/* Check all the standard demo application tasks are executing without
		error. */
		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
		{
			/* An error has been detected in one of the tasks - flash faster. */
			xDelayPeriod = mainERROR_FLASH_PERIOD;
		}
		
		vParTestToggleLED( mainCHECK_TASK_LED );
	}
}
/*-----------------------------------------------------------*/

static long prvCheckOtherTasksAreStillRunning( void )
{
long lReturn = ( long ) pdPASS;

	/* Check all the demo tasks (other than the flash tasks) to ensure
	that they are all still running, and that none of them have detected
	an error. */

	if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	{
		lReturn = ( long ) pdFAIL;
	}

	if( xArePollingQueuesStillRunning() != pdTRUE )
	{
		lReturn = ( long ) pdFAIL;
	}

	if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	{
		lReturn = ( long ) pdFAIL;
	}

	if( xAreBlockingQueuesStillRunning() != pdTRUE )
	{
		lReturn = ( long ) pdFAIL;
	}

	if( xAreComTestTasksStillRunning() != pdTRUE )
	{
		lReturn = ( long ) pdFAIL;
	}

	if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
	{
		lReturn = ( long ) pdFAIL;
	}

	return lReturn;
}
/*-----------------------------------------------------------*/