/*
    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.

    ***************************************************************************
    *                                                                         *
    * If you are:                                                             *
    *                                                                         *
    *    + New to FreeRTOS,                                                   *
    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
    *    + Looking for basic training,                                        *
    *    + Wanting to improve your FreeRTOS skills and productivity           *
    *                                                                         *
    * then take a look at the FreeRTOS books - available as PDF or paperback  *
    *                                                                         *
    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
    *                  http://www.FreeRTOS.org/Documentation                  *
    *                                                                         *
    * A pdf reference manual is also available.  Both are usually delivered   *
    * to your inbox within 20 minutes to two hours when purchased between 8am *
    * and 8pm GMT (although please allow up to 24 hours in case of            *
    * exceptional circumstances).  Thank you for your support!                *
    *                                                                         *
    ***************************************************************************

    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.
    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 and the FreeRTOS license exception along with FreeRTOS; if not it 
    can be viewed here: http://www.freertos.org/a00114.html and also obtained 
    by writing to Richard Barry, contact details for whom are available on the
    FreeRTOS WEB site.

    1 tab == 4 spaces!

    http://www.FreeRTOS.org - Documentation, latest information, license and
    contact details.

    http://www.SafeRTOS.com - A version that is certified for use in safety
    critical systems.

    http://www.OpenRTOS.com - Commercial support, development, porting,
    licensing and training services.
*/

#include <device.h>

/* RTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"

/* Common Demo includes. */
#include "serial.h"
#include "BlockQ.h"
#include "blocktim.h"
#include "comtest.h"
#include "countsem.h"
#include "death.h"
#include "dynamic.h"
#include "flash.h"
#include "flop.h"
#include "GenQTest.h"
#include "integer.h"
#include "IntQueue.h"
#include "mevents.h"
#include "partest.h"
#include "PollQ.h"
#include "print.h"
#include "QPeek.h"
#include "semtest.h"
/*---------------------------------------------------------------------------*/

/* The time between cycles of the 'check' functionality (defined within the
tick hook. */
#define mainCHECK_DELAY						( ( portTickType ) 5000 / portTICK_RATE_MS )
#define mainCOM_LED							( 3 )

/* The number of nano seconds between each processor clock. */
#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )

/* Task priorities. */
#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 mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )
#define mainCOM_TEST_TASK_PRIORITY			( tskIDLE_PRIORITY + 1 )
#define mainFLASH_TEST_TASK_PRIORITY		( tskIDLE_PRIORITY + 2 )
/*---------------------------------------------------------------------------*/

/*
 * Configures the timers and interrupts for the fast interrupt test as
 * described at the top of this file.
 */
extern void vSetupTimerTest( void );
/*---------------------------------------------------------------------------*/

/*
 * The Check task periodical interrogates each of the running tests to
 * ensure that they are still executing correctly.
 * If all the tests pass, then the LCD is updated with Pass, the number of 
 * iterations and the Jitter time calculated but the Fast Interrupt Test.
 * If any one of the tests fail, it is indicated with an error code printed on
 * the display. This indicator won't disappear until the device is reset.
 */
void vCheckTask( void *pvParameters );

/*
 * Installs the RTOS interrupt handlers and starts the peripherals.
 */
static void prvHardwareSetup( void );
/*---------------------------------------------------------------------------*/

void main( void )
{
    /* Place your initialization/startup code here (e.g. MyInst_Start()) */
	prvHardwareSetup();

	/* Start the standard demo tasks.  These are just here to exercise the
	kernel port and provide examples of how the FreeRTOS API can be used. */
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vCreateBlockTimeTasks();
	vStartCountingSemaphoreTasks();
	vStartDynamicPriorityTasks();
	vStartMathTasks( mainINTEGER_TASK_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartQueuePeekTasks();
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartLEDFlashTasks( mainFLASH_TEST_TASK_PRIORITY );
	vAltStartComTestTasks( mainCOM_TEST_TASK_PRIORITY, 57600, mainCOM_LED );
	vStartInterruptQueueTasks();

	/* Start the error checking task. */
  	( void ) xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Configure the timers used by the fast interrupt timer test. */
	vSetupTimerTest();

	/* The suicide tasks must be created last as they need to know how many
	tasks were running prior to their creation in order to ascertain whether
	or not the correct/expected number of tasks are running at any given time. */
	vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

	/* Will only get here if there was insufficient memory to create the idle
    task.  The idle task is created within vTaskStartScheduler(). */
	vTaskStartScheduler();

	/* Should never reach here as the kernel will now be running.  If
	vTaskStartScheduler() does return then it is very likely that there was
	insufficient (FreeRTOS) heap space available to create all the tasks,
	including the idle task that is created within vTaskStartScheduler() itself. */
	for( ;; );
}
/*---------------------------------------------------------------------------*/

void prvHardwareSetup( void )
{
/* Port layer functions that need to be copied into the vector table. */
extern void xPortPendSVHandler( void );
extern void xPortSysTickHandler( void );
extern void vPortSVCHandler( void );
extern cyisraddress CyRamVectors[];

	/* Install the OS Interrupt Handlers. */
	CyRamVectors[ 11 ] = ( cyisraddress ) vPortSVCHandler;
	CyRamVectors[ 14 ] = ( cyisraddress ) xPortPendSVHandler;
	CyRamVectors[ 15 ] = ( cyisraddress ) xPortSysTickHandler;

	/* Start-up the peripherals. */

	/* Enable and clear the LCD Display. */
	LCD_Character_Display_Start();
	LCD_Character_Display_ClearDisplay();
	LCD_Character_Display_Position( 0, 0 );
	LCD_Character_Display_PrintString( "www.FreeRTOS.org " );
	LCD_Character_Display_Position( 1, 0 );
	LCD_Character_Display_PrintString("CY8C5588AX-060  ");

	/* Start the UART. */
	UART_1_Start();
	
	/* Initialise the LEDs. */
	vParTestInitialise();
	
	/* Start the PWM modules that drive the IntQueue tests. */
	High_Frequency_PWM_0_Start();
	High_Frequency_PWM_1_Start();
	
	/* Start the timers for the Jitter test. */
	Timer_20KHz_Start();
	Timer_48MHz_Start();
}
/*---------------------------------------------------------------------------*/

void vCheckTask( void *pvParameters )
{
unsigned long ulRow = 0;
portTickType xDelay = 0;
unsigned short usErrorCode = 0;
unsigned long ulIteration = 0;
extern unsigned portSHORT usMaxJitter;

	/* Intialise the sleeper. */
	xDelay = xTaskGetTickCount();
	
	for( ;; )
	{
		/* Perform this check every mainCHECK_DELAY milliseconds. */
		vTaskDelayUntil( &xDelay, mainCHECK_DELAY );
		
		/* Check that all of the Demo tasks are still running. */
		if( pdTRUE != xAreBlockingQueuesStillRunning() )
		{
			usErrorCode |= 0x1;
		}
		
		if( pdTRUE != xAreBlockTimeTestTasksStillRunning() )
		{
			usErrorCode |= 0x2;
		}
		
		if( pdTRUE != xAreCountingSemaphoreTasksStillRunning() )
		{
			usErrorCode |= 0x4;
		}
		
		if( pdTRUE != xIsCreateTaskStillRunning() )
		{
			usErrorCode |= 0x8;
		}
		
		if( pdTRUE != xAreDynamicPriorityTasksStillRunning() )
		{
			usErrorCode |= 0x10;
		}
		
		if( pdTRUE != xAreMathsTaskStillRunning() )
		{
			usErrorCode |= 0x20;
		}
		
		if( pdTRUE != xAreGenericQueueTasksStillRunning() )
		{
			usErrorCode |= 0x40;
		}
		
		if( pdTRUE != xAreIntegerMathsTaskStillRunning() )
		{
			usErrorCode |= 0x80;
		}
		
		if( pdTRUE != xArePollingQueuesStillRunning() )
		{
			usErrorCode |= 0x100;
		}
		
		if( pdTRUE != xAreQueuePeekTasksStillRunning() )
		{
			usErrorCode |= 0x200;
		}
				
		if( pdTRUE != xAreSemaphoreTasksStillRunning() )
		{
			usErrorCode |= 0x400;
		}
		
		if( pdTRUE != xAreComTestTasksStillRunning() )
		{
			usErrorCode |= 0x800;
		}
		
		if( pdTRUE != xAreIntQueueTasksStillRunning() )
		{
			usErrorCode |= 0x1000;
		}

		/* Clear the display. */
		LCD_Character_Display_ClearDisplay();
		if( 0 == usErrorCode )
		{
			LCD_Character_Display_Position( ( ulRow ) & 0x1, 0);
			LCD_Character_Display_PrintString( "Pass: " );
			LCD_Character_Display_PrintNumber( ulIteration++ );
			LCD_Character_Display_Position( ( ++ulRow ) & 0x1, 0 );
			LCD_Character_Display_PrintString( "Jitter(ns):" );
			LCD_Character_Display_PrintNumber( ( usMaxJitter * mainNS_PER_CLOCK ) );
		}
		else
		{
			/* Do something to indicate the failure. */
			LCD_Character_Display_Position( ( ulRow ) & 0x1, 0 );
			LCD_Character_Display_PrintString( "Fail at: " );
			LCD_Character_Display_PrintNumber( ulIteration );
			LCD_Character_Display_Position( ( ++ulRow ) & 0x1, 0 );
			LCD_Character_Display_PrintString( "Error: 0x" );
			LCD_Character_Display_PrintHexUint16( usErrorCode );
		}
	}
}
/*---------------------------------------------------------------------------*/

void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )
{
	/* The stack space has been execeeded for a task, considering allocating more. */
	taskDISABLE_INTERRUPTS();
	for( ;; );
}
/*---------------------------------------------------------------------------*/

void vApplicationMallocFailedHook( void )
{
	/* The heap space has been execeeded. */
	taskDISABLE_INTERRUPTS();
	for( ;; );
}
/*---------------------------------------------------------------------------*/