/*
	FreeRTOS V5.4.2 - Copyright (C) 2009 Real Time Engineers Ltd.

	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 exception 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.  
	Alternative commercial license and support terms are also available upon 
	request.  See the licensing section of http://www.FreeRTOS.org for full 
	license details.

	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.  See the GNU General Public License for
	more details.

	You should have received a copy of the GNU General Public License along
	with FreeRTOS; if not, write to the Free Software Foundation, Inc., 59
	Temple Place, Suite 330, Boston, MA  02111-1307  USA.


	***************************************************************************
	*                                                                         *
	* Looking for a quick start?  Then check out the FreeRTOS eBook!          *
	* See http://www.FreeRTOS.org/Documentation for details                   *
	*                                                                         *
	***************************************************************************

	1 tab == 4 spaces!

	Please ensure to read the configuration and relevant port sections of the
	online documentation.

	http://www.FreeRTOS.org - Documentation, latest information, license and
	contact details.

	http://www.SafeRTOS.com - A version that is certified for use in safety
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*/

/*
 * This file contains a demo created to execute on the Rowley Associates
 * LPC2138 CrossFire development board.
 *
 * main() creates all the demo application tasks, then starts the scheduler.
 * The WEB documentation provides more details of the standard demo application
 * tasks.
 *
 * Main.c also creates a task called "Check".  This only executes every few
 * seconds but has a high priority so is guaranteed to get processor time.
 * Its function is to check that all the other tasks are still operational.
 * Each standard demo task 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 writes "PASS" to the
 * CrossStudio terminal IO window.  Should any task contain an error at any time
 * the error is latched and "FAIL" written to the terminal IO window.
 *
 * Finally, main() sets up an interrupt service routine and task to handle
 * pushes of the button that is built into the CrossFire board.  When the button
 * is pushed the ISR wakes the button task - which generates a table of task
 * status information which is also displayed on the terminal IO window.
 *
 * A print task is defined to ensure exclusive and consistent access to the
 * terminal IO.  This is the only task that is allowed to access the terminal.
 * The check and button task therefore do not access the terminal directly but
 * instead pass a pointer to the message they wish to display to the print task.
 */

/* Standard includes. */
#include <__cross_studio_io.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"

/* Demo app includes. */
#include "BlockQ.h"
#include "death.h"
#include "dynamic.h"
#include "integer.h"
#include "PollQ.h"
#include "blocktim.h"
#include "recmutex.h"
#include "semtest.h"

/* Hardware configuration definitions. */
#define mainBUS_CLK_FULL					( ( unsigned portCHAR ) 0x01 )
#define mainLED_BIT							0x80000000
#define mainP0_14__EINT_1					( 2 << 28 )
#define mainEINT_1_EDGE_SENSITIVE			2
#define mainEINT_1_FALLING_EDGE_SENSITIVE	0
#define mainEINT_1_CHANNEL					15
#define mainEINT_1_VIC_CHANNEL_BIT			( 1 << mainEINT_1_CHANNEL )
#define mainEINT_1_ENABLE_BIT				( 1 << 5 )

/* Demo application definitions. */
#define mainQUEUE_SIZE						( 3 )
#define mainLED_DELAY						( ( portTickType ) 500 / portTICK_RATE_MS )
#define mainERROR_LED_DELAY					( ( portTickType ) 50 / portTICK_RATE_MS )
#define mainCHECK_DELAY						( ( portTickType ) 5000 / portTICK_RATE_MS )
#define mainLIST_BUFFER_SIZE				2048
#define mainNO_DELAY						( 0 )
#define mainSHORT_DELAY						( 150 / portTICK_RATE_MS )

/* Task priorities. */
#define mainLED_TASK_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainPRINT_TASK_PRIORITY				( tskIDLE_PRIORITY + 0 )

/*-----------------------------------------------------------*/

/* The semaphore used to wake the button task from within the external interrupt
handler. */
xSemaphoreHandle xButtonSemaphore;

/* The queue that is used to send message to vPrintTask for display in the
terminal output window. */
xQueueHandle xPrintQueue;

/* The rate at which the LED will toggle.  The toggle rate increases if an
error is detected in any task. */
static portTickType xLED_Delay = mainLED_DELAY;
/*-----------------------------------------------------------*/

/*
 * Simply flashes the on board LED every mainLED_DELAY milliseconds.
 */
static void vLEDTask( void *pvParameters );

/*
 * Checks the status of all the demo tasks then prints a message to the
 * CrossStudio terminal IO windows.  The message will be either PASS or FAIL
 * depending on the status of the demo applications tasks.  A FAIL status will
 * be latched.
 *
 * Messages are not written directly to the terminal, but passed to vPrintTask
 * via a queue.
 */
static void vCheckTask( void *pvParameters );

/*
 * Controls all terminal output.  If a task wants to send a message to the
 * terminal IO it posts a pointer to the text to vPrintTask via a queue.  This
 * ensures serial access to the terminal IO.
 */
static void vPrintTask( void *pvParameter );

/*
 * Simply waits for an interrupt to be generated from the built in button, then
 * generates a table of tasks states that is then written by vPrintTask to the
 * terminal output window within CrossStudio.
 */
static void vButtonHandlerTask( void *pvParameters );

/*-----------------------------------------------------------*/

int main( void )
{
	/* Setup the peripheral bus to be the same as the PLL output. */
	VPBDIV = mainBUS_CLK_FULL;

	/* Create the queue used to pass message to vPrintTask. */
	xPrintQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( portCHAR * ) );

	/* Create the semaphore used to wake vButtonHandlerTask(). */
	vSemaphoreCreateBinary( xButtonSemaphore );
	xSemaphoreTake( xButtonSemaphore, 0 );

	/* Start the standard demo tasks. */
	vStartIntegerMathTasks( tskIDLE_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartDynamicPriorityTasks();
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

	#if configUSE_PREEMPTION == 1
	{
		/* The timing of console output when not using the preemptive
		scheduler causes the block time tests to detect a timing problem. */
		vCreateBlockTimeTasks();
	}
	#endif

    vStartRecursiveMutexTasks();

	/* Start the tasks defined within this file. */
	xTaskCreate( vLEDTask, ( signed char * ) "LED", configMINIMAL_STACK_SIZE, NULL, mainLED_TASK_PRIORITY, NULL );
    xTaskCreate( vCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
    xTaskCreate( vPrintTask, ( signed char * ) "Print", configMINIMAL_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
    xTaskCreate( vButtonHandlerTask, ( signed char * ) "Button", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Start the scheduler. */
	vTaskStartScheduler();

	/* The scheduler should now be running, so we will only ever reach here if we
	ran out of heap space. */

	return 0;
}
/*-----------------------------------------------------------*/

static void vLEDTask( void *pvParameters )
{
	/* Just to remove compiler warnings. */
	( void ) pvParameters;

	/* Configure IO. */
	IO0DIR |= mainLED_BIT;
	IO0SET = mainLED_BIT;

	for( ;; )
	{
		/* Not very exiting - just delay... */
		vTaskDelay( xLED_Delay );

		/* ...set the IO ... */
        IO0CLR = mainLED_BIT;

		/* ...delay again... */
		vTaskDelay( xLED_Delay );

		/* ...then clear the IO. */
		IO0SET = mainLED_BIT;
	}
}
/*-----------------------------------------------------------*/

static void vCheckTask( void *pvParameters )
{
portBASE_TYPE xErrorOccurred = pdFALSE;
portTickType xLastExecutionTime;
const portCHAR * const pcPassMessage = "PASS\n";
const portCHAR * const pcFailMessage = "FAIL\n";

	/* Just to remove compiler warnings. */
	( void ) pvParameters;

	/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
	works correctly. */
	xLastExecutionTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Perform this check every mainCHECK_DELAY milliseconds. */
		vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );

		/* Has an error been found in any task? */

		if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
		{
			xErrorOccurred = pdTRUE;
		}

		if( xArePollingQueuesStillRunning() != pdTRUE )
		{
			xErrorOccurred = pdTRUE;
		}

		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
		{
			xErrorOccurred = pdTRUE;
		}

		if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
		{
			xErrorOccurred = pdTRUE;
		}

		if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			xErrorOccurred = pdTRUE;
		}

		#if configUSE_PREEMPTION == 1
		{
			/* The timing of console output when not using the preemptive
			scheduler causes the block time tests to detect a timing problem. */
			if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
			{
				xErrorOccurred = pdTRUE;
			}
		}
		#endif

		if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
		{
			xErrorOccurred = pdTRUE;
		}

		/* Send either a pass or fail message.  If an error is found it is
		never cleared again. */
		if( xErrorOccurred == pdTRUE )
		{
			xLED_Delay = mainERROR_LED_DELAY;
			xQueueSend( xPrintQueue, &pcFailMessage, portMAX_DELAY );
		}
		else
		{
			xQueueSend( xPrintQueue, &pcPassMessage, portMAX_DELAY );
		}
	}
}
/*-----------------------------------------------------------*/

static void vPrintTask( void *pvParameters )
{
portCHAR *pcMessage;

	/* Just to stop compiler warnings. */
	( void ) pvParameters;

	for( ;; )
	{
		/* Wait for a message to arrive. */
		while( xQueueReceive( xPrintQueue, &pcMessage, portMAX_DELAY ) != pdPASS );

		/* Write the message to the terminal IO. */
		#ifndef NDEBUG
			debug_printf( "%s", pcMessage );
		#endif
	}
}
/*-----------------------------------------------------------*/

static void vButtonHandlerTask( void *pvParameters )
{
static signed portCHAR cListBuffer[ mainLIST_BUFFER_SIZE ];
const signed portCHAR *pcList = &( cListBuffer[ 0 ] );
const portCHAR * const pcHeader = "\nTask          State  Priority  Stack	#\n************************************************";
extern void (vButtonISRWrapper) ( void );

	/* Just to stop compiler warnings. */
	( void ) pvParameters;

	/* Configure the interrupt. */
	portENTER_CRITICAL();
	{
		/* Configure P0.14 to generate interrupts. */
		PINSEL0 |= mainP0_14__EINT_1;
		EXTMODE = mainEINT_1_EDGE_SENSITIVE;
		EXTPOLAR = mainEINT_1_FALLING_EDGE_SENSITIVE;

		/* Setup the VIC for EINT 1. */
		VICIntSelect &= ~mainEINT_1_VIC_CHANNEL_BIT;
		VICIntEnable |= mainEINT_1_VIC_CHANNEL_BIT;
		VICVectAddr1 = ( portLONG ) vButtonISRWrapper;
		VICVectCntl1 = mainEINT_1_ENABLE_BIT | mainEINT_1_CHANNEL;
	}
	portEXIT_CRITICAL();

	for( ;; )
	{
		/* For debouncing, wait a while then clear the semaphore. */
		vTaskDelay( mainSHORT_DELAY );
		xSemaphoreTake( xButtonSemaphore, mainNO_DELAY );

		/* Wait for an interrupt. */
		xSemaphoreTake( xButtonSemaphore, portMAX_DELAY );

		/* Send the column headers to the print task for display. */
		xQueueSend( xPrintQueue, &pcHeader, portMAX_DELAY );

		/* Create the list of task states. */
		vTaskList( cListBuffer );

		/* Send the task status information to the print task for display. */
		xQueueSend( xPrintQueue, &pcList, portMAX_DELAY );
	}
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
{
	/* Check pcTaskName for the name of the offending task, or pxCurrentTCB
	if pcTaskName has itself been corrupted. */
	( void ) pxTask;
	( void ) pcTaskName;
	for( ;; );
}