/*
    FreeRTOS V8.2.0 - Copyright (C) 2015 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:
 *
 * "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 "crflash.h"
#include "partest.h"
#include "semtest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "comtest2.h"

/*-----------------------------------------------------------*/

/* The time between cycles of the 'check' functionality - as described at the
top of this file. */
#define mainNO_ERROR_PERIOD					( ( TickType_t ) 5000 / portTICK_PERIOD_MS )

/* The rate at which the LED controlled by the 'check' task will flash should an
error have been detected. */
#define mainERROR_PERIOD 					( ( TickType_t ) 500 / portTICK_PERIOD_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 long ) 19200 )
#define mainCOM_TEST_LED					( 5 )

/* Task priorities. */
#define mainCOM_TEST_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 mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )

/* Co-routines are used to flash the LEDs. */
#define mainNUM_FLASH_CO_ROUTINES			( 3 )

/* The baud rate used by the comtest tasks. */
#define mainBAUD_RATE 						( 38400 )

/* There is no spare LED for the comtest tasks, so this is set to an invalid
number. */
#define mainCOM_LED							( 4 )

/*
 * 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 long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;

/*-----------------------------------------------------------*/

int main( void )
{
	/* Setup the hardware ready for this demo. */
	prvSetupHardware();

	/* Start the standard demo tasks. */
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartQueuePeekTasks();
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_LED );

	/* For demo purposes use some co-routines to flash the LEDs. */
	vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );

	/* Create the check task. */
	xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );


	/* Start the reg test tasks - defined in this file. */
	xTaskCreate( vRegTest1Task, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );

	/* 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 long ulTicksToWait = mainNO_ERROR_PERIOD, ulError = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
TickType_t xLastExecutionTime;
volatile unsigned portBASE_TYPE uxUnusedStack;

	( 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( xAreComTestTasksStillRunning() != pdTRUE )
	    {
	    	ulError |= 0x40UL;
	    }

		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
		doing increase the rate at which the check task LED toggles. */
		if( ulError != 0 )
		{
	    	ulTicksToWait = mainERROR_PERIOD;
		}

		/* Toggle the LED each itteration. */
		vParTestToggleLED( mainCHECK_LED );

		/* For demo only - how much unused stack does this task have? */
		uxUnusedStack = uxTaskGetStackHighWaterMark( NULL );
	}
}
/*-----------------------------------------------------------*/

void prvSetupHardware( void )
{
	portDISABLE_INTERRUPTS();

	/* Setup the port used to toggle LEDs. */
	vParTestInitialise();
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( TaskHandle_t *pxTask, signed char *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( ;; )
	{
	}
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void );
void vApplicationIdleHook( void )
{
	/* The co-routines run in the idle task. */
	vCoRoutineSchedule();
}
/*-----------------------------------------------------------*/

void exit( int n )
{
	/* To keep the linker happy only as the libraries have been removed from
	the build. */
	( void ) n;
	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"
						"	move		ulRegTest1Counter, d0	\n\t"
						"	addq		#1, d0					\n\t"
						"	move		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"
						"	move		ulRegTest1Counter, d0	\n\t"
						"	addq		#1, d0					\n\t"
						"	move		d0, ulRegTest2Counter	\n\t"
						"	bra			reg_test_2_start		\n\t"
						"reg_test_2_error:						\n\t"
						"	bra			reg_test_2_error		\n\t"
					);
}
/*-----------------------------------------------------------*/