/*
    FreeRTOS V9.0.0 - 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,    *
     *    robust, strictly quality controlled, supported, and cross          *
     *    platform software that is more than just the market leader, it     *
     *    is the industry's de facto standard.                               *
     *                                                                       *
     *    Help yourself get started quickly while simultaneously helping     *
     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
     *    tutorial book, reference manual, or both:                          *
     *    http://www.FreeRTOS.org/Documentation                              *
     *                                                                       *
    ***************************************************************************

    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()?

    http://www.FreeRTOS.org/support - In return for receiving this top quality
    embedded software for free we request you assist our global community by
    participating in the support forum.

    http://www.FreeRTOS.org/training - Investing in training allows your team to
    be as productive as possible as early as possible.  Now you can receive
    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
    Ltd, and the world's leading authority on the world's leading RTOS.

    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.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
    licenses offer ticketed support, indemnification and commercial 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!
*/

/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the standard demo application tasks.
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "LCD" task - the LCD task is a 'gatekeeper' task.  It is the only task that
 * is permitted to access the display directly.  Other tasks wishing to write a
 * message to the LCD send the message on a queue to the LCD task instead of
 * accessing the LCD themselves.  The LCD task just blocks on the queue waiting
 * for messages - waking and displaying the messages as they arrive.
 *
 * "Check" hook -  This only executes every five seconds from the tick hook.
 * Its main function is to check that all the standard demo tasks are still
 * operational.  Should any unexpected behaviour within a demo task be discovered
 * the tick hook will write an error to the LCD (via the LCD task).  If all the
 * demo tasks are executing with their expected behaviour then the check task
 * writes PASS to the LCD (again via the LCD task), as described above.
 *
 * "uIP" task -  This is the task that handles the uIP stack.  All TCP/IP
 * processing is performed in this task.
 */

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"

/* Demo app includes. */
#include "BlockQ.h"
#include "death.h"
#include "blocktim.h"
#include "LCD/portlcd.h"
#include "flash.h"
#include "partest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "dynamic.h"

/* Demo application definitions. */
#define mainQUEUE_SIZE						( 3 )
#define mainCHECK_DELAY						( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
#define mainBASIC_WEB_STACK_SIZE            ( configMINIMAL_STACK_SIZE * 6 )

/* Task priorities. */
#define mainQUEUE_POLL_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 3 )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainFLASH_PRIORITY                  ( tskIDLE_PRIORITY + 2 )
#define mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )

/* Constants to setup the PLL. */
#define mainPLL_MUL			( ( unsigned long ) ( 8 - 1 ) )
#define mainPLL_DIV			( ( unsigned long ) 0x0000 )
#define mainCPU_CLK_DIV		( ( unsigned long ) 0x0003 )
#define mainPLL_ENABLE		( ( unsigned long ) 0x0001 )
#define mainPLL_CONNECT		( ( ( unsigned long ) 0x0002 ) | mainPLL_ENABLE )
#define mainPLL_FEED_BYTE1	( ( unsigned long ) 0xaa )
#define mainPLL_FEED_BYTE2	( ( unsigned long ) 0x55 )
#define mainPLL_LOCK		( ( unsigned long ) 0x4000000 )
#define mainPLL_CONNECTED	( ( unsigned long ) 0x2000000 )
#define mainOSC_ENABLE		( ( unsigned long ) 0x20 )
#define mainOSC_STAT		( ( unsigned long ) 0x40 )
#define mainOSC_SELECT		( ( unsigned long ) 0x01 )

/* Constants to setup the MAM. */
#define mainMAM_TIM_3		( ( unsigned char ) 0x03 )
#define mainMAM_MODE_FULL	( ( unsigned char ) 0x02 )

/*
 * The task that handles the uIP stack.  All TCP/IP processing is performed in
 * this task.
 */
extern void vuIP_Task( void *pvParameters );

/*
 * The LCD is written two by more than one task so is controlled by a
 * 'gatekeeper' task.  This is the only task that is actually permitted to
 * access the LCD directly.  Other tasks wanting to display a message send
 * the message to the gatekeeper.
 */
static void vLCDTask( void *pvParameters );

/* Configure the hardware as required by the demo. */
static void prvSetupHardware( void );

/* The queue used to send messages to the LCD task. */
QueueHandle_t xLCDQueue;

/*-----------------------------------------------------------*/

int main( void )
{
	prvSetupHardware();

	/* Create the queue used by the LCD task.  Messages for display on the LCD
	are received via this queue. */
	xLCDQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( xLCDMessage ) );

	/* Create the uIP task.  This uses the lwIP RTOS abstraction layer.*/
    xTaskCreate( vuIP_Task, "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );

	/* Start the standard demo tasks. */
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vCreateBlockTimeTasks();
    vStartLEDFlashTasks( mainFLASH_PRIORITY );
    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
    vStartQueuePeekTasks();
    vStartDynamicPriorityTasks();

	/* Start the tasks defined within this file/specific to this demo. */
	xTaskCreate( vLCDTask, "LCD", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );

	/* Start the scheduler. */
	vTaskStartScheduler();

    /* Will only get here if there was insufficient memory to create the idle
    task. */
	return 0;
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
unsigned portBASE_TYPE uxColumn = 0;
static xLCDMessage xMessage = { 0, "PASS" };
static unsigned long ulTicksSinceLastDisplay = 0;
static portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

	/* Called from every tick interrupt.  Have enough ticks passed to make it
	time to perform our health status check again? */
	ulTicksSinceLastDisplay++;
	if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
	{
		ulTicksSinceLastDisplay = 0;

		/* Has an error been found in any task? */

        if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR - BLOCKQ";
		}

		if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR - BLOCKTIM";
		}

		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR - GENQ";
		}

		if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR - PEEKQ";
		}

		if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR - DYNAMIC";
		}

        xMessage.xColumn++;

		/* Send the message to the LCD gatekeeper for display. */
		xHigherPriorityTaskWoken = pdFALSE;
		xQueueSendToBackFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
	}
}
/*-----------------------------------------------------------*/

void vLCDTask( void *pvParameters )
{
xLCDMessage xMessage;

	/* Initialise the LCD and display a startup message. */
	LCD_init();
	LCD_cur_off();
    LCD_cls();
    LCD_gotoxy( 1, 1 );
    LCD_puts( "www.FreeRTOS.org" );

	for( ;; )
	{
		/* Wait for a message to arrive that requires displaying. */
		while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );

		/* Display the message.  Print each message to a different position. */
		LCD_cls();
		LCD_gotoxy( ( xMessage.xColumn & 0x07 ) + 1, ( xMessage.xColumn & 0x01 ) + 1 );
		LCD_puts( xMessage.pcMessage );
	}

}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	#ifdef RUN_FROM_RAM
		/* Remap the interrupt vectors to RAM if we are are running from RAM. */
		SCB_MEMMAP = 2;
	#endif

	/* Disable the PLL. */
	PLLCON = 0;
	PLLFEED = mainPLL_FEED_BYTE1;
	PLLFEED = mainPLL_FEED_BYTE2;

	/* Configure clock source. */
	SCS |= mainOSC_ENABLE;
	while( !( SCS & mainOSC_STAT ) );
	CLKSRCSEL = mainOSC_SELECT;

	/* Setup the PLL to multiply the XTAL input by 4. */
	PLLCFG = ( mainPLL_MUL | mainPLL_DIV );
	PLLFEED = mainPLL_FEED_BYTE1;
	PLLFEED = mainPLL_FEED_BYTE2;

	/* Turn on and wait for the PLL to lock... */
	PLLCON = mainPLL_ENABLE;
	PLLFEED = mainPLL_FEED_BYTE1;
	PLLFEED = mainPLL_FEED_BYTE2;
	CCLKCFG = mainCPU_CLK_DIV;
	while( !( PLLSTAT & mainPLL_LOCK ) );

	/* Connecting the clock. */
	PLLCON = mainPLL_CONNECT;
	PLLFEED = mainPLL_FEED_BYTE1;
	PLLFEED = mainPLL_FEED_BYTE2;
	while( !( PLLSTAT & mainPLL_CONNECTED ) );

	/*
	This code is commented out as the MAM does not work on the original revision
	LPC2368 chips.  If using Rev B chips then you can increase the speed though
	the use of the MAM.

	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.
	MAMCR = 0;
	MAMTIM = mainMAM_TIM_3;
	MAMCR = mainMAM_MODE_FULL;
	*/

	/* Setup the led's on the MCB2300 board */
	vParTestInitialise();
}