/*
    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

    ***************************************************************************
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*/


/*
 * 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					( ( 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 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 long 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, "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vRegTest2Task, "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );

	/* Create the check task. */
	xTaskCreate( prvCheckTask, "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;
TickType_t 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 long );

	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( 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( ;; );
}
/*-----------------------------------------------------------*/

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"
					);
}
/*-----------------------------------------------------------*/