/*
    FreeRTOS V6.1.0 - Copyright (C) 2010 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.
*/


/*
 * 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:
 *
 * "Check" task -  This only executes every five seconds but has a high priority
 * to ensure it gets processor time.  Its main function is to check that all the
 * standard demo tasks are still operational.  While no errors have been
 * discovered the check task will toggle an LED every 5 seconds - the toggle
 * rate increasing to 500ms being a visual indication that at least one task has
 * reported unexpected behaviour.
 *
 * "Reg test" tasks - These fill the registers with known values, then check
 * that each register still contains its expected value.  Each task uses
 * different values.  The tasks run with very low priority so get preempted very
 * frequently.  A register containing an unexpected value is indicative of an
 * error in the context switching mechanism.
 *
 */

/* Standard includes. */
#include <stdio.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 "integer.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "PollQ.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "IntQueue.h"
#include "comtest2.h"

/*-----------------------------------------------------------*/

/* The time between cycles of the 'check' functionality - as described at the
top of this file. */
#define mainNO_ERROR_PERIOD					( ( portTickType ) 5000 / portTICK_RATE_MS )

/* The rate at which the LED controlled by the 'check' task will flash should an
error have been detected. */
#define mainERROR_PERIOD 					( ( portTickType ) 500 / portTICK_RATE_MS )

/* The LED controlled by the 'check' task. */
#define mainCHECK_LED						( 3 )

/* ComTest constants - there is no free LED for the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE				( ( unsigned portLONG ) 19200 )
#define mainCOM_TEST_LED					( 5 )

/* Task priorities. */
#define mainCOM_TEST_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 mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )

/*
 * Configure the hardware for the demo.
 */
static void prvSetupHardware( void );

/*
 * Implements the 'check' task functionality as described at the top of this
 * file.
 */
static void prvCheckTask( void *pvParameters );

/*
 * Implement the 'Reg test' functionality as described at the top of this file.
 */
static void vRegTest1Task( void *pvParameters );
static void vRegTest2Task( void *pvParameters );

/*-----------------------------------------------------------*/

/* Counters used to detect errors within the reg test tasks. */
static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;

/*-----------------------------------------------------------*/

int main( void )
{
	/* Setup the hardware ready for this demo. */
	prvSetupHardware();

	/* Start the standard demo tasks. */
	vStartLEDFlashTasks( tskIDLE_PRIORITY );
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartQueuePeekTasks();
	vStartRecursiveMutexTasks();
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
	vStartInterruptQueueTasks();

	/* Start the reg test tasks - defined in this file. */
	xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );

	/* Create the check task. */
	xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* 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 );

	/* Start the scheduler. */
	vTaskStartScheduler();

    /* Will only get here if there was insufficient memory to create the idle
    task. */
	for( ;; );
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void *pvParameters )
{
unsigned ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
portTickType xLastExecutionTime;

	( void ) pvParameters;

	/* Initialise the variable used to control our iteration rate prior to
	its first use. */
	xLastExecutionTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Wait until it is time to run the tests again. */
		vTaskDelayUntil( &xLastExecutionTime, ulTicksToWait );

		/* Has an error been found in any task? */
		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			ulError |= 0x01UL;
		}

		if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			ulError |= 0x02UL;
		}

		if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			ulError |= 0x04UL;
		}

		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	    {
	    	ulError |= 0x20UL;
	    }

		if( xArePollingQueuesStillRunning() != pdTRUE )
	    {
	    	ulError |= 0x40UL;
	    }

		if( xIsCreateTaskStillRunning() != pdTRUE )
	    {
	    	ulError |= 0x80UL;
	    }

		if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	    {
	    	ulError |= 0x100UL;
	    }

		if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	    {
	    	ulError |= 0x200UL;
	    }

		if( xAreComTestTasksStillRunning() != pdTRUE )
		{
	    	ulError |= 0x400UL;
		}

		if( xAreIntQueueTasksStillRunning() != pdTRUE )
	    {
	    	ulError |= 0x800UL;
	    }

		if( ulLastRegTest1Count == ulRegTest1Counter )
		{
			ulError |= 0x1000UL;
		}

		if( ulLastRegTest2Count == ulRegTest2Counter )
		{
			ulError |= 0x1000UL;
		}

		ulLastRegTest1Count = ulRegTest1Counter;
		ulLastRegTest2Count = ulRegTest2Counter;

		/* If an error has been found then increase our cycle rate, and in so
		going increase the rate at which the check task LED toggles. */
		if( ulError != 0 )
		{
	    	ulTicksToWait = mainERROR_PERIOD;
		}

		/* Toggle the LED each itteration. */
		vParTestToggleLED( mainCHECK_LED );
	}
}
/*-----------------------------------------------------------*/

void prvSetupHardware( void )
{
extern void mcf5xxx_wr_cacr( unsigned portLONG );

	portDISABLE_INTERRUPTS();

	/* Enable the cache. */
	mcf5xxx_wr_cacr( MCF5XXX_CACR_CENB | MCF5XXX_CACR_CINV | MCF5XXX_CACR_DISD | MCF5XXX_CACR_CEIB | MCF5XXX_CACR_CLNF_00 );
	asm volatile( "NOP" ); /* As per errata. */

	/* Multiply 8Mhz reference crystal by 8 to achieve system clock of 64Mhz. */
	MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD( 2 );

	/* Wait for PLL to lock. */
	while( !( MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK ) )
	{
		__asm__ volatile ( "NOP" );
	}

	/* Setup the port used to toggle LEDs. */
	vParTestInitialise();
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *pcTaskName )
{
	/* This will get called if a stack overflow is detected during the context
	switch.  Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
	problems within nested interrupts, but only do this for debug purposes as
	it will increase the context switch time. */

	( void ) pxTask;
	( void ) pcTaskName;

	for( ;; );
}
/*-----------------------------------------------------------*/

static void vRegTest1Task( void *pvParameters )
{
	/* Sanity check - did we receive the parameter expected? */
	if( pvParameters != &ulRegTest1Counter )
	{
		/* Change here so the check task can detect that an error occurred. */
		for( ;; );
	}

	/* Set all the registers to known values, then check that each retains its
	expected value - as described at the top of this file.  If an error is
	found then the loop counter will no longer be incremented allowing the check
	task to recognise the error. */
	asm volatile 	(	"reg_test_1_start:						\n\t"
						"	moveq		#1, %d0					\n\t"
						"	moveq		#2, %d1					\n\t"
						"	moveq		#3, %d2					\n\t"
						"	moveq		#4, %d3					\n\t"
						"	moveq		#5, %d4					\n\t"
						"	moveq		#6, %d5					\n\t"
						"	moveq		#7, %d6					\n\t"
						"	moveq		#8, %d7					\n\t"
						"	move		#9, %a0					\n\t"
						"	move		#10, %a1				\n\t"
						"	move		#11, %a2				\n\t"
						"	move		#12, %a3				\n\t"
						"	move		#13, %a4				\n\t"
						"	move		#14, %a5				\n\t"
						"	move		#15, %a6				\n\t"
						"										\n\t"
						"	cmpi.l		#1, %d0					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#2, %d1					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#3, %d2					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#4, %d3					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#5, %d4					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#6, %d5					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#7, %d6					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#8, %d7					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		%a0, %d0				\n\t"
						"	cmpi.l		#9, %d0					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		%a1, %d0				\n\t"
						"	cmpi.l		#10, %d0				\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		%a2, %d0				\n\t"
						"	cmpi.l		#11, %d0				\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		%a3, %d0				\n\t"
						"	cmpi.l		#12, %d0				\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		%a4, %d0				\n\t"
						"	cmpi.l		#13, %d0				\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		%a5, %d0				\n\t"
						"	cmpi.l		#14, %d0				\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		%a6, %d0				\n\t"
						"	cmpi.l		#15, %d0				\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	movel		ulRegTest1Counter, %d0	\n\t"
						"	addql		#1, %d0					\n\t"
						"	movel		%d0, ulRegTest1Counter	\n\t"
						"	bra			reg_test_1_start		\n\t"
						"reg_test_1_error:						\n\t"
						"	bra			reg_test_1_error		\n\t"
					);
}
/*-----------------------------------------------------------*/

static void vRegTest2Task( void *pvParameters )
{
	/* Sanity check - did we receive the parameter expected? */
	if( pvParameters != &ulRegTest2Counter )
	{
		/* Change here so the check task can detect that an error occurred. */
		for( ;; );
	}

	/* Set all the registers to known values, then check that each retains its
	expected value - as described at the top of this file.  If an error is
	found then the loop counter will no longer be incremented allowing the check
	task to recognise the error. */
	asm volatile 	(	"reg_test_2_start:						\n\t"
						"	moveq		#10, %d0				\n\t"
						"	moveq		#20, %d1				\n\t"
						"	moveq		#30, %d2				\n\t"
						"	moveq		#40, %d3				\n\t"
						"	moveq		#50, %d4				\n\t"
						"	moveq		#60, %d5				\n\t"
						"	moveq		#70, %d6				\n\t"
						"	moveq		#80, %d7				\n\t"
						"	move		#90, %a0				\n\t"
						"	move		#100, %a1				\n\t"
						"	move		#110, %a2				\n\t"
						"	move		#120, %a3				\n\t"
						"	move		#130, %a4				\n\t"
						"	move		#140, %a5				\n\t"
						"	move		#150, %a6				\n\t"
						"										\n\t"
						"	cmpi.l		#10, %d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#20, %d1				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#30, %d2				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#40, %d3				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#50, %d4				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#60, %d5				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#70, %d6				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#80, %d7				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		%a0, %d0				\n\t"
						"	cmpi.l		#90, %d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		%a1, %d0				\n\t"
						"	cmpi.l		#100, %d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		%a2, %d0				\n\t"
						"	cmpi.l		#110, %d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		%a3, %d0				\n\t"
						"	cmpi.l		#120, %d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		%a4, %d0				\n\t"
						"	cmpi.l		#130, %d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		%a5, %d0				\n\t"
						"	cmpi.l		#140, %d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		%a6, %d0				\n\t"
						"	cmpi.l		#150, %d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	movel		ulRegTest1Counter, %d0	\n\t"
						"	addql		#1, %d0					\n\t"
						"	movel		%d0, ulRegTest2Counter	\n\t"
						"	bra			reg_test_2_start		\n\t"
						"reg_test_2_error:						\n\t"
						"	bra			reg_test_2_error		\n\t"
					);
}
/*-----------------------------------------------------------*/