/*
    FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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

    1 tab == 4 spaces!

    ***************************************************************************
     *                                                                       *
     *    Having a problem?  Start by reading the FAQ "My application does   *
     *    not run, what could be wrong?".  Have you defined configASSERT()?  *
     *                                                                       *
     *    http://www.FreeRTOS.org/FAQHelp.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                              *
     *                                                                       *
    ***************************************************************************

    ***************************************************************************
     *                                                                       *
     *   Investing in training allows your team to be as productive as       *
     *   possible as early as possible, lowering your overall development    *
     *   cost, and enabling you to bring a more robust product to market     *
     *   earlier than would otherwise be possible.  Richard Barry is both    *
     *   the architect and key author of FreeRTOS, and so also the world's   *
     *   leading authority on what is the world's most popular real time     *
     *   kernel for deeply embedded MCU designs.  Obtaining your training    *
     *   from Richard ensures your team will gain directly from his in-depth *
     *   product knowledge and years of usage experience.  Contact Real Time *
     *   Engineers Ltd to enquire about the FreeRTOS Masterclass, presented  *
     *   by Richard Barry:  http://www.FreeRTOS.org/contact
     *                                                                       *
    ***************************************************************************

    ***************************************************************************
     *                                                                       *
     *    You are receiving this top quality software for free.  Please play *
     *    fair and reciprocate by reporting any suspected issues and         *
     *    participating in the community forum:                              *
     *    http://www.FreeRTOS.org/support                                    *
     *                                                                       *
     *    Thank you!                                                         *
     *                                                                       *
    ***************************************************************************

    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
    license and Real Time Engineers Ltd. contact details.

    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 demo application tasks.
 *
 * Main. c also creates a task called "Check".  This only executes every three
 * seconds but has the highest priority so is guaranteed to get processor time.
 * Its main function is to check that all the other tasks are still operational.
 * Each task that does not flash an LED 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
 * toggles an LED.  Should any task contain an error at any time the LED toggle
 * will stop.
 *
 * The LED flash and communications test tasks do not maintain a count.
 */

/*
Changes from V1.2.0

	+ Changed the baud rate for the serial test from 19200 to 57600.

Changes from V1.2.3

	+ The integer and comtest tasks are now used when the cooperative scheduler
	  is being used.  Previously they were only used with the preemptive
	  scheduler.

Changes from V1.2.5

	+ Set the baud rate to 38400.  This has a smaller error percentage with an
	  8MHz clock (according to the manual).

Changes from V2.0.0

	+ Delay periods are now specified using variables and constants of
	  TickType_t rather than unsigned long.

Changes from V2.6.1

	+ The IAR and WinAVR AVR ports are now maintained separately.

Changes from V4.0.5

	+ Modified to demonstrate the use of co-routines.

*/

#include <stdlib.h>
#include <string.h>

#ifdef GCC_MEGA_AVR
	/* EEPROM routines used only with the WinAVR compiler. */
	#include <avr/eeprom.h>
#endif

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "croutine.h"

/* Demo file headers. */
#include "PollQ.h"
#include "integer.h"
#include "serial.h"
#include "comtest.h"
#include "crflash.h"
#include "print.h"
#include "partest.h"
#include "regtest.h"

/* Priority definitions for most of the tasks in the demo application.  Some
tasks just use the idle priority. */
#define mainLED_TASK_PRIORITY			( tskIDLE_PRIORITY + 1 )
#define mainCOM_TEST_PRIORITY			( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY			( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY			( tskIDLE_PRIORITY + 3 )

/* Baud rate used by the serial port tasks. */
#define mainCOM_TEST_BAUD_RATE			( ( unsigned long ) 38400 )

/* LED used by the serial port tasks.  This is toggled on each character Tx,
and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
#define mainCOM_TEST_LED				( 4 )

/* LED that is toggled by the check task.  The check task periodically checks
that all the other tasks are operating without error.  If no errors are found
the LED is toggled.  If an error is found at any time the LED is never toggles
again. */
#define mainCHECK_TASK_LED				( 7 )

/* The period between executions of the check task. */
#define mainCHECK_PERIOD				( ( TickType_t ) 3000 / portTICK_PERIOD_MS  )

/* An address in the EEPROM used to count resets.  This is used to check that
the demo application is not unexpectedly resetting. */
#define mainRESET_COUNT_ADDRESS			( ( void * ) 0x50 )

/* The number of coroutines to create. */
#define mainNUM_FLASH_COROUTINES		( 3 )

/*
 * The task function for the "Check" task.
 */
static void vErrorChecks( void *pvParameters );

/*
 * Checks the unique counts of other tasks to ensure they are still operational.
 * Flashes an LED if everything is okay.
 */
static void prvCheckOtherTasksAreStillRunning( void );

/*
 * Called on boot to increment a count stored in the EEPROM.  This is used to
 * ensure the CPU does not reset unexpectedly.
 */
static void prvIncrementResetCount( void );

/*
 * The idle hook is used to scheduler co-routines.
 */
void vApplicationIdleHook( void );

/*-----------------------------------------------------------*/

short main( void )
{
	prvIncrementResetCount();

	/* Setup the LED's for output. */
	vParTestInitialise();

	/* Create the standard demo tasks. */
	vStartIntegerMathTasks( tskIDLE_PRIORITY );
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartRegTestTasks();

	/* Create the tasks defined within this file. */
	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Create the co-routines that flash the LED's. */
	vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );

	/* In this port, to use preemptive scheduler define configUSE_PREEMPTION
	as 1 in portmacro.h.  To use the cooperative scheduler define
	configUSE_PREEMPTION as 0. */
	vTaskStartScheduler();

	return 0;
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void *pvParameters )
{
static volatile unsigned long ulDummyVariable = 3UL;

	/* The parameters are not used. */
	( void ) pvParameters;

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error. */
	for( ;; )
	{
		vTaskDelay( mainCHECK_PERIOD );

		/* Perform a bit of 32bit maths to ensure the registers used by the
		integer tasks get some exercise. The result here is not important -
		see the demo application documentation for more info. */
		ulDummyVariable *= 3;

		prvCheckOtherTasksAreStillRunning();
	}
}
/*-----------------------------------------------------------*/

static void prvCheckOtherTasksAreStillRunning( void )
{
static portBASE_TYPE xErrorHasOccurred = pdFALSE;

	if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	{
		xErrorHasOccurred = pdTRUE;
	}

	if( xAreComTestTasksStillRunning() != pdTRUE )
	{
		xErrorHasOccurred = pdTRUE;
	}

	if( xArePollingQueuesStillRunning() != pdTRUE )
	{
		xErrorHasOccurred = pdTRUE;
	}

	if( xAreRegTestTasksStillRunning() != pdTRUE )
	{
		xErrorHasOccurred = pdTRUE;
	}

	if( xErrorHasOccurred == pdFALSE )
	{
		/* Toggle the LED if everything is okay so we know if an error occurs even if not
		using console IO. */
		vParTestToggleLED( mainCHECK_TASK_LED );
	}
}
/*-----------------------------------------------------------*/

static void prvIncrementResetCount( void )
{
unsigned char ucCount;

	eeprom_read_block( &ucCount, mainRESET_COUNT_ADDRESS, sizeof( ucCount ) );
	ucCount++;
	eeprom_write_byte( mainRESET_COUNT_ADDRESS, ucCount );
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
	vCoRoutineSchedule();
}