/*
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    Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

    ***************************************************************************
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    >>!   outside of the FreeRTOS kernel.                                   !<<
    ***************************************************************************

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    ***************************************************************************
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*/


/******************************************************************************
 * NOTE 1:  This project provides three demo applications.  A simple blinky
 * style project, a more comprehensive test and demo application, and an
 * lwIP example.  The mainSELECTED_APPLICATION setting in main.c is used to
 * select between the three.  See the notes on using mainSELECTED_APPLICATION
 * in main.c.  This file implements the comprehensive version.
 *
 * NOTE 2:  This file only contains the source code that is specific to the
 * full demo.  Generic functions, such FreeRTOS hook functions, and functions
 * required to configure the hardware, are defined in main.c.
 *
 ******************************************************************************
 *
 * main_full() creates all the demo application tasks and software timers, then
 * starts the scheduler.  The web documentation provides more details of the
 * standard demo application tasks, which provide no particular functionality,
 * but do provide a good example of how to use the FreeRTOS API.
 *
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * FreeRTOS+CLI command console.  The command console is access through the
 * UART to USB connector on the ZC702 Zynq development board (marked J2).  For
 * reasons of robustness testing the UART driver is deliberately written to be
 * inefficient and should not be used as a template for a production driver.
 * Type "help" to see a list of registered commands.  The FreeRTOS+CLI license
 * is different to the FreeRTOS license, see http://www.FreeRTOS.org/cli for
 * license and usage details.  The default baud rate is 115200.
 *
 * "Reg test" tasks - These fill both the core and floating point registers with
 * known values, then check that each register maintains its expected value for
 * the lifetime of the task.  Each task uses a different set of values.  The reg
 * test tasks execute with a very low priority, so get preempted very
 * frequently.  A register containing an unexpected value is indicative of an
 * error in the context switching mechanism.
 *
 * "Check" task - The check task period is initially set to three seconds.  The
 * task checks that all the standard demo tasks, and the register check tasks,
 * are not only still executing, but are executing without reporting any errors.
 * If the check task discovers that a task has either stalled, or reported an
 * error, then it changes its own execution period from the initial three
 * seconds, to just 200ms.  The check task also toggles an LED each time it is
 * called.  This provides a visual indication of the system status:  If the LED
 * toggles every three seconds, then no issues have been discovered.  If the LED
 * toggles every 200ms, then an issue has been discovered with at least one
 * task.
 */

/* Standard includes. */
#include <stdio.h>

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "semphr.h"

/* Standard demo application includes. */
#include "flash_timer.h"
#include "flop.h"
#include "semtest.h"
#include "dynamic.h"
#include "blocktim.h"
#include "countsem.h"
#include "GenQTest.h"
#include "recmutex.h"
#include "partest.h"
#include "serial.h"
#include "TimerDemo.h"
#include "EventGroupsDemo.h"
#include "TaskNotify.h"
#include "IntSemTest.h"

/* Priorities for the demo application tasks. */
#define mainSEM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1UL )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2UL )
#define mainCREATOR_TASK_PRIORITY			( tskIDLE_PRIORITY + 3UL )
#define mainFLOP_TASK_PRIORITY				( tskIDLE_PRIORITY )
#define mainUART_COMMAND_CONSOLE_STACK_SIZE	( configMINIMAL_STACK_SIZE * 2UL )
#define mainCOM_TEST_TASK_PRIORITY			( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY				( configMAX_PRIORITIES - 1 )
#define mainQUEUE_OVERWRITE_PRIORITY		( tskIDLE_PRIORITY )
#define mainFLASH_PRIORITY					( tskIDLE_PRIORITY )

/* The priority used by the UART command console task. */
#define mainUART_COMMAND_CONSOLE_TASK_PRIORITY	( configMAX_PRIORITIES - 2 )

/* The LED used by the check timer. */
#define mainCHECK_LED						( 7 )


/* A block time of zero simply means "don't block". */
#define mainDONT_BLOCK						( 0UL )

/* The period after which the check timer will expire, in ms, provided no errors
have been reported by any of the standard demo tasks.  ms are converted to the
equivalent in ticks using the portTICK_PERIOD_MS constant. */
#define mainNO_ERROR_CHECK_TASK_PERIOD		( pdMS_TO_TICKS( 3000UL ) )

/* The period at which the check timer will expire, in ms, if an error has been
reported in one of the standard demo tasks.  ms are converted to the equivalent
in ticks using the portTICK_PERIOD_MS constant. */
#define mainERROR_CHECK_TASK_PERIOD 		( pdMS_TO_TICKS( 200UL ) )

/* Parameters that are passed into the register check tasks solely for the
purpose of ensuring parameters are passed into tasks correctly. */
#define mainREG_TEST_TASK_1_PARAMETER		( ( void * ) 0x12345678 )
#define mainREG_TEST_TASK_2_PARAMETER		( ( void * ) 0x87654321 )

/* The base period used by the timer test tasks. */
#define mainTIMER_TEST_PERIOD				( 50 )

/* The number of timers to create that just flash LEDs. */
#define mainNUM_FLASH_TIMERS				( 3 )
/*-----------------------------------------------------------*/


/*
 * The check task, as described at the top of this file.
 */
static void prvCheckTask( void *pvParameters );

/*
 * Register check tasks, and the tasks used to write over and check the contents
 * of the FPU registers, as described at the top of this file.  The nature of
 * these files necessitates that they are written in an assembly file, but the
 * entry points are kept in the C file for the convenience of checking the task
 * parameter.
 */
static void prvRegTestTaskEntry1( void *pvParameters );
extern void vRegTest1Implementation( void );
static void prvRegTestTaskEntry2( void *pvParameters );
extern void vRegTest2Implementation( void );

/*
 * Register commands that can be used with FreeRTOS+CLI.  The commands are
 * defined in CLI-Commands.c and File-Related-CLI-Command.c respectively.
 */
extern void vRegisterSampleCLICommands( void );

/*
 * The task that manages the FreeRTOS+CLI input and output.
 */
extern void vUARTCommandConsoleStart( uint16_t usStackSize, UBaseType_t uxPriority );

/*
 * When the full demo is build the tick hook it used to demonstrate API
 * functions being called from an interrupt and to perform some tests.
 */
void vFullDemoTickHook( void );

/*
 * When the full demo is build the idle hook is used to create some timers that
 * cannot be created in main() because the timer demo tasks need the entire
 * command queue.
 */
void vFullDemoIdleHook( void );

/*-----------------------------------------------------------*/

/* The following two variables are used to communicate the status of the
register check tasks to the check task.  If the variables keep incrementing,
then the register check tasks have not discovered any errors.  If a variable
stops incrementing, then an error has been found. */
volatile unsigned long ulRegTest1LoopCounter = 0UL, ulRegTest2LoopCounter = 0UL;

/*-----------------------------------------------------------*/

void main_full( void )
{
	/* Start all the other standard demo/test tasks.  They have no particular
	functionality, but do demonstrate how to use the FreeRTOS API and test the
	kernel port. */
	vStartDynamicPriorityTasks();
	vCreateBlockTimeTasks();
	vStartCountingSemaphoreTasks();
	vStartGenericQueueTasks( tskIDLE_PRIORITY );
	vStartRecursiveMutexTasks();
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
	vStartEventGroupTasks();
	vStartTaskNotifyTask();
	vStartInterruptSemaphoreTasks();

	/* Note - the set of standard demo tasks contains two versions of
	vStartMathTasks.c.  One is defined in flop.c, and uses double precision
	floating point numbers and variables.  The other is defined in sp_flop.c,
	and uses single precision floating point numbers and variables.  The
	MicroBlaze floating point unit only handles single precision floating.
	Therefore, to test the floating point hardware, sp_flop.c should be included
	in this project. */
	vStartMathTasks( mainFLOP_TASK_PRIORITY );

	/* Start the tasks that implements the command console on the UART, as
	described above. */
	vUARTCommandConsoleStart( mainUART_COMMAND_CONSOLE_STACK_SIZE, mainUART_COMMAND_CONSOLE_TASK_PRIORITY );

	/* Register the standard CLI commands. */
	vRegisterSampleCLICommands();

	/* Create the register check tasks, as described at the top of this	file */
	xTaskCreate( prvRegTestTaskEntry1, "Reg1", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_1_PARAMETER, tskIDLE_PRIORITY, NULL );
	xTaskCreate( prvRegTestTaskEntry2, "Reg2", configMINIMAL_STACK_SIZE, mainREG_TEST_TASK_2_PARAMETER, tskIDLE_PRIORITY, NULL );

	/* Create the task that performs the 'check' functionality,	as described at
	the top of this file. */
	xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Start the scheduler. */
	vTaskStartScheduler();

	/* If all is well, the scheduler will now be running, and the following
	line will never be reached.  If the following line does execute, then
	there was either insufficient FreeRTOS heap memory available for the idle
	and/or timer tasks to be created, or vTaskStartScheduler() was called from
	User mode.  See the memory management section on the FreeRTOS web site for
	more details on the FreeRTOS heap http://www.freertos.org/a00111.html.  The
	mode from which main() is called is set in the C start up code and must be
	a privileged mode (not user mode). */
	for( ;; );
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void *pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_CHECK_TASK_PERIOD;
TickType_t xLastExecutionTime;
static unsigned long ulLastRegTest1Value = 0, ulLastRegTest2Value = 0;
unsigned long ulErrorFound = pdFALSE;

	/* Just to stop compiler warnings. */
	( void ) pvParameters;

	/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
	works correctly. */
	xLastExecutionTime = xTaskGetTickCount();

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error.  The onboard LED is toggled on each iteration.
	If an error is detected then the delay period is decreased from
	mainNO_ERROR_CHECK_TASK_PERIOD to mainERROR_CHECK_TASK_PERIOD.  This has the
	effect of increasing the rate at which the onboard LED toggles, and in so
	doing gives visual feedback of the system status. */
	for( ;; )
	{
		/* Delay until it is time to execute again. */
		vTaskDelayUntil( &xLastExecutionTime, xDelayPeriod );

		/* Check all the demo tasks (other than the flash tasks) to ensure
		that they are all still running, and that none have detected an error. */
		if( xAreMathsTaskStillRunning() != pdTRUE )
		{
			ulErrorFound |= 1UL << 1UL;
		}

		if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
		{
			ulErrorFound |= 1UL << 2UL;
		}

		if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			ulErrorFound |= 1UL << 4UL;
		}

		if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			ulErrorFound |= 1UL << 5UL;
		}

		if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
		{
			ulErrorFound |= 1UL << 6UL;
		}

		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
		{
			ulErrorFound |= 1UL << 8UL;
		}

		if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
		{
			ulErrorFound |= 1UL << 9UL;
		}

		if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
		{
			ulErrorFound |= 1UL << 10UL;
		}

		if( xAreEventGroupTasksStillRunning() != pdPASS )
		{
			ulErrorFound |= 1UL << 12UL;
		}

		if( xAreTaskNotificationTasksStillRunning() != pdTRUE )
		{
			ulErrorFound |= 1UL << 13UL;
		}

		if( xAreInterruptSemaphoreTasksStillRunning() != pdTRUE )
		{
			ulErrorFound |= 1UL << 14UL;
		}

		/* Check that the register test 1 task is still running. */
		if( ulLastRegTest1Value == ulRegTest1LoopCounter )
		{
			ulErrorFound |= 1UL << 15UL;
		}
		ulLastRegTest1Value = ulRegTest1LoopCounter;

		/* Check that the register test 2 task is still running. */
		if( ulLastRegTest2Value == ulRegTest2LoopCounter )
		{
			ulErrorFound |= 1UL << 16UL;
		}
		ulLastRegTest2Value = ulRegTest2LoopCounter;

		/* Toggle the check LED to give an indication of the system status.  If
		the LED toggles every mainNO_ERROR_CHECK_TASK_PERIOD milliseconds then
		everything is ok.  A faster toggle indicates an error. */
		vParTestToggleLED( mainCHECK_LED );

		if( ulErrorFound != pdFALSE )
		{
			/* An error has been detected in one of the tasks - flash the LED
			at a higher frequency to give visible feedback that something has
			gone wrong. */
			xDelayPeriod = mainERROR_CHECK_TASK_PERIOD;
		}
	}
}
/*-----------------------------------------------------------*/

static void prvRegTestTaskEntry1( void *pvParameters )
{
	/* Although the regtest task is written in assembler, its entry point is
	written in C for convenience of checking the task parameter is being passed
	in correctly. */
	if( pvParameters == mainREG_TEST_TASK_1_PARAMETER )
	{
		/* Start the part of the test that is written in assembler. */
		vRegTest1Implementation();
	}

	/* The following line will only execute if the task parameter is found to
	be incorrect.  The check timer will detect that the regtest loop counter is
	not being incremented and flag an error. */
	vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

static void prvRegTestTaskEntry2( void *pvParameters )
{
	/* Although the regtest task is written in assembler, its entry point is
	written in C for convenience of checking the task parameter is being passed
	in correctly. */
	if( pvParameters == mainREG_TEST_TASK_2_PARAMETER )
	{
		/* Start the part of the test that is written in assembler. */
		vRegTest2Implementation();
	}

	/* The following line will only execute if the task parameter is found to
	be incorrect.  The check timer will detect that the regtest loop counter is
	not being incremented and flag an error. */
	vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

void vFullDemoTickHook( void )
{
	/* The full demo includes a software timer demo/test that requires
	prodding periodically from the tick interrupt. */
	vTimerPeriodicISRTests();

	/* Call the periodic event group from ISR demo. */
	vPeriodicEventGroupsProcessing();

	/* Use task notifications from an interrupt. */
	xNotifyTaskFromISR();

	/* Use mutexes from interrupts. */
	vInterruptSemaphorePeriodicTest();
}
/*-----------------------------------------------------------*/

void vFullDemoIdleHook( void )
{
static uint32_t ulStartedTimers = pdFALSE;

	if( ulStartedTimers == pdFALSE )
	{
		/* The flash timers are not created from main() as the timer demo needs
		the entire timer command queue in order to perform some tests. */
		vStartLEDFlashTimers( mainNUM_FLASH_TIMERS );
		ulStartedTimers = pdTRUE;
	}
}