/*
    FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
    All rights reserved

    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    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 on the following
    link: http://www.freertos.org/a00114.html

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS provides completely free yet professionally developed,    *
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     *    is the industry's de facto standard.                               *
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     *    tutorial book, reference manual, or both:                          *
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    ***************************************************************************

    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
    the FAQ page "My application does not run, what could be wrong?".  Have you
    defined configASSERT()?

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    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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    1 tab == 4 spaces!
*/

/******************************************************************************
 *
 * This project is provided as an example of how to create a FreeRTOS project
 * that does not need a heap.  configSUPPORT_STATIC_ALLOCATION is set to 1 to
 * allow RTOS objects to be created using statically allocated RAM, and
 * configSUPPORT_DYNAMIC_ALLOCATION is set to 0 to remove any build dependency
 * on the FreeRTOS heap.  When configSUPPORT_DYNAMIC_ALLOCATION is set to 0
 * pvPortMalloc() just equates to NULL, and calls to vPortFree() have no
 * effect.  See:
 *
 * http://www.freertos.org/a00111.html and
 * http://www.freertos.org/Static_Vs_Dynamic_Memory_Allocation.html
 *
 *******************************************************************************
 */

/* Standard includes. */
#include <stdio.h>
#include <stdlib.h>
#include <conio.h>

/* FreeRTOS kernel includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Standard demo includes. */
#include "StaticAllocation.h"


/*-----------------------------------------------------------*/

/*
 * Prototypes for the standard FreeRTOS stack overflow hook (callback)
 * function.  http://www.freertos.org/Stacks-and-stack-overflow-checking.html
 */
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );

/*
 * This demo has configSUPPORT_STATIC_ALLOCATION set to 1 so the following
 * application callback function must be provided to supply the RAM that will
 * get used for the Idle task data structures and stack.
 */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint16_t *pusIdleTaskStackSize );

/*
* This demo has configSUPPORT_STATIC_ALLOCATION set to 1 and configUSE_TIMERS
* set to 1 so the following application callback function must be provided to
* supply the RAM that will get used for the Timer task data structures and
* stack.
*/
void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint16_t *pusTimerTaskStackSize );

/* This demo only uses the standard demo tasks that use statically allocated
RAM.  A 'check' task is also created to periodically inspect the demo tasks to
ensure they are still running, and that no errors have been detected. */
static void prvStartCheckTask( void );
static void prvCheckTask( void *pvParameters );

/*-----------------------------------------------------------*/

int main( void )
{
	/* This demo has configSUPPORT_STATIC_ALLOCATION set to 1 and
	configSUPPORT_DYNAMIC_ALLOCATION set to 0, so the only standard temo tasks
	created are the ones that only use static allocation.  This allow the
	application to be built without including a FreeRTOS heap file (without one
	of the heap files described on http://www.freertos.org/a00111.html */
	vStartStaticallyAllocatedTasks();

	/* Start a task that periodically inspects the tasks created by
	vStartStaticallyAllocatedTasks() to ensure they are still running, and not
	reporting any errors. */
	prvStartCheckTask();

	/* Start the scheduler so the demo tasks start to execute. */
	vTaskStartScheduler();

	/* vTaskStartScheduler() would only return if RAM required by the Idle and
	Timer tasks could not be allocated.  As this demo uses statically allocated
	RAM only, there are no allocations that could fail, and
	vTaskStartScheduler() cannot return - so there is no need to put the normal
	infinite loop after the call to vTaskStartScheduler(). */

	return 0;
}
/*-----------------------------------------------------------*/

static void prvStartCheckTask( void )
{
/* Allocate the data structure that will hold the task's TCB.  NOTE:  This is
declared static so it still exists after this function has returned. */
static StaticTask_t xCheckTask;

/* Allocate the stack that will be used by the task.  NOTE:  This is declared
static so it still exists after this function has returned. */
static StackType_t ucTaskStack[ configMINIMAL_STACK_SIZE * sizeof( StackType_t ) ];

	/* Create the task, which will use the RAM allocated by the linker to the
	variables declared in this function. */
	xTaskCreateStatic( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL, ucTaskStack, &xCheckTask );
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void *pvParameters )
{
const TickType_t xCycleFrequency = pdMS_TO_TICKS( 2500UL );
static char *pcStatusMessage = "No errors";

	/* Just to remove compiler warning. */
	( void ) pvParameters;

	for( ;; )
	{
		/* Place this task in the blocked state until it is time to run again. */
		vTaskDelay( xCycleFrequency );

		/* Check the tasks that use static allocation are still executing. */
		if( xAreStaticAllocationTasksStillRunning() != pdPASS )
		{
			pcStatusMessage = "Error: Static allocation";
		}

		/* This is the only task that uses stdout so its ok to call printf()
		directly. */
		printf( "%s - tick count %d - number of tasks executing %d\r\n",
													pcStatusMessage,
													xTaskGetTickCount(),
													uxTaskGetNumberOfTasks() );
	}
}

/*-----------------------------------------------------------*/
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
	( void ) pcTaskName;
	( void ) pxTask;

	/* Run time stack overflow checking is performed if
	configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
	function is called if a stack overflow is detected.  This function is
	provided as an example only as stack overflow checking does not function
	when running the FreeRTOS Windows port. */
	vAssertCalled( __LINE__, __FILE__ );
}
/*-----------------------------------------------------------*/

void vAssertCalled( unsigned long ulLine, const char * const pcFileName )
{
volatile uint32_t ulSetToNonZeroInDebuggerToContinue = 0;

	/* Called if an assertion passed to configASSERT() fails.  See
	http://www.freertos.org/a00110.html#configASSERT for more information. */

	/* Parameters are not used. */
	( void ) ulLine;
	( void ) pcFileName;

	printf( "ASSERT! Line %d, file %s\r\n", ulLine, pcFileName );

 	taskENTER_CRITICAL();
	{
		/* You can step out of this function to debug the assertion by using
		the debugger to set ulSetToNonZeroInDebuggerToContinue to a non-zero
		value. */
		while( ulSetToNonZeroInDebuggerToContinue == 0 )
		{
			__asm{ NOP };
			__asm{ NOP };
		}
	}
	taskEXIT_CRITICAL();
}
/*-----------------------------------------------------------*/

/* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
used by the Idle task. */
void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint16_t *pusIdleTaskStackSize )
{
/* If the buffers to be provided to the Idle task are declared inside this
function then they must be declared static - otherwise they will be allocated on
the stack and so not exists after this function exits. */
static StaticTask_t xIdleTaskTCB;
static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];

	/* Pass out a pointer to the StaticTask_t structure in which the Idle task's
	state will be stored. */
	*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;

	/* Pass out the array that will be used as the Idle task's stack. */
	*ppxIdleTaskStackBuffer = uxIdleTaskStack;

	/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
	Note that, as the array is necessarily of type StackType_t,
	configMINIMAL_STACK_SIZE is specified in words, not bytes. */
	*pusIdleTaskStackSize = configMINIMAL_STACK_SIZE;
}
/*-----------------------------------------------------------*/

/* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
application must provide an implementation of vApplicationGetTimerTaskMemory()
to provide the memory that is used by the Timer service task. */
void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint16_t *pusTimerTaskStackSize )
{
/* If the buffers to be provided to the Timer task are declared inside this
function then they must be declared static - otherwise they will be allocated on
the stack and so not exists after this function exits. */
static StaticTask_t xTimerTaskTCB;
static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];

	/* Pass out a pointer to the StaticTask_t structure in which the Timer
	task's state will be stored. */
	*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;

	/* Pass out the array that will be used as the Timer task's stack. */
	*ppxTimerTaskStackBuffer = uxTimerTaskStack;

	/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
	Note that, as the array is necessarily of type StackType_t,
	configMINIMAL_STACK_SIZE is specified in words, not bytes. */
	*pusTimerTaskStackSize = configMINIMAL_STACK_SIZE;
}