/*
    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,
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    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!
*/

/*
 * Instead of the normal single demo application, the PIC18F demo is split
 * into several smaller programs of which this is the second.  This enables the
 * demo's to be executed on the RAM limited 40 pin devices.  The 64 and 80 pin
 * devices require a more costly development platform and are not so readily
 * available.
 *
 * The RTOSDemo2 project is configured for a PIC18F452 device.  Main2.c starts
 * 5 tasks (including the idle task).
 *
 * The first, second and third tasks do nothing but flash an LED.  This gives
 * visual feedback that everything is executing as expected.  One task flashes
 * an LED every 333ms (i.e. on and off every 333/2 ms), then next every 666ms
 * and the last every 999ms.
 *
 * The last task runs at the idle priority.  It repeatedly performs a 32bit
 * calculation and checks it's result against the expected value.  This checks
 * that the temporary storage utilised by the compiler to hold intermediate
 * results does not get corrupted when the task gets switched in and out.
 * should the calculation ever provide an incorrect result the final LED is
 * turned on.
 *
 * On entry to main() an 'X' is transmitted.  Monitoring the serial port using a
 * dumb terminal allows for verification that the device is not continuously
 * being reset (no more than one 'X' should be transmitted).
 *
 * http://www.FreeRTOS.org contains important information on the use of the
 * PIC18F port.
 */

/*
Changes from V2.0.0

	+ Delay periods are now specified using variables and constants of
	  TickType_t rather than unsigned long.
*/

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"

/* Demo app include files. */
#include "flash.h"
#include "partest.h"
#include "serial.h"

/* Priority definitions for the LED tasks.  Other tasks just use the idle
priority. */
#define mainLED_FLASH_PRIORITY			( tskIDLE_PRIORITY + ( unsigned portBASE_TYPE ) 1 )

/* The LED that is lit when should the calculation fail. */
#define mainCHECK_TASK_LED				( ( unsigned portBASE_TYPE ) 3 )

/* Constants required for the communications.  Only one character is ever
transmitted. */
#define mainCOMMS_QUEUE_LENGTH			( ( unsigned portBASE_TYPE ) 5 )
#define mainNO_BLOCK					( ( TickType_t ) 0 )
#define mainBAUD_RATE					( ( unsigned long ) 9600 )

/*
 * The task that performs the 32 bit calculation at the idle priority.
 */
static void vCalculationTask( void *pvParameters );

/*-----------------------------------------------------------*/

/* Creates the tasks, then starts the scheduler. */
void main( void )
{
	/* Initialise the required hardware. */
	vParTestInitialise();
	vPortInitialiseBlocks();

	/* Send a character so we have some visible feedback of a reset. */
	xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
	xSerialPutChar( NULL, 'X', mainNO_BLOCK );

	/* Start the standard LED flash tasks as defined in demo/common/minimal. */
	vStartLEDFlashTasks( mainLED_FLASH_PRIORITY );

	/* Start the check task defined in this file. */
	xTaskCreate( vCalculationTask, "Check", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

	/* Start the scheduler. */
	vTaskStartScheduler();
}
/*-----------------------------------------------------------*/

static void vCalculationTask( void *pvParameters )
{
volatile unsigned long ulCalculatedValue; /* Volatile to ensure optimisation is minimal. */

	/* Continuously perform a calculation.  If the calculation result is ever
	incorrect turn the LED on. */
	for( ;; )
	{
		/* A good optimising compiler would just remove all this! */
		ulCalculatedValue = 1234UL;
		ulCalculatedValue *= 99UL;

		if( ulCalculatedValue != 122166UL )
		{
			vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
		}

		ulCalculatedValue *= 9876UL;

		if( ulCalculatedValue != 1206511416UL )
		{
			vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
		}

		ulCalculatedValue /= 15UL;

		if( ulCalculatedValue != 80434094UL )
		{
			vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
		}

		ulCalculatedValue += 918273UL;

		if( ulCalculatedValue != 81352367UL )
		{
			vParTestSetLED( mainCHECK_TASK_LED, pdTRUE );
		}
	}
}
/*-----------------------------------------------------------*/