/*
    FreeRTOS V7.4.2 - Copyright (C) 2013 Real Time Engineers Ltd.

    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS tutorial books are available in pdf and paperback.        *
     *    Complete, revised, and edited pdf reference manuals are also       *
     *    available.                                                         *
     *                                                                       *
     *    Purchasing FreeRTOS documentation will not only help you, by       *
     *    ensuring you get running as quickly as possible and with an        *
     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
     *    the FreeRTOS project to continue with its mission of providing     *
     *    professional grade, cross platform, de facto standard solutions    *
     *    for microcontrollers - completely free of charge!                  *
     *                                                                       *
     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
     *                                                                       *
     *    Thank you for using FreeRTOS, and thank you for your support!      *
     *                                                                       *
    ***************************************************************************


    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.  See the GNU General Public License for more
    details. You should have received a copy of the GNU General Public License
    and the FreeRTOS license exception along with FreeRTOS; if not it can be
    viewed here: http://www.freertos.org/a00114.html and also obtained by
    writing to Real Time Engineers Ltd., contact details for whom are available
    on the FreeRTOS WEB site.

    1 tab == 4 spaces!

    ***************************************************************************
     *                                                                       *
     *    Having a problem?  Start by reading the FAQ "My application does   *
     *    not run, what could be wrong?"                                     *
     *                                                                       *
     *    http://www.FreeRTOS.org/FAQHelp.html                               *
     *                                                                       *
    ***************************************************************************


    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, and our new
    fully thread aware and reentrant UDP/IP stack.

    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
    Integrity Systems, who sell the code with commercial support, 
    indemnification and middleware, under the OpenRTOS brand.
    
    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.
*/

/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the standard demo application tasks.
 *
 * A "Check" task is created in addition to the standard demo tasks.    This
 * only executes every three 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.  If everything is running as expected then the
 * check task will toggle an LED every 3 seconds.  An error being discovered in
 * any task will cause the toggle rate to increase to 500ms.
 *
 */

/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Standard demo includes. */
#include "BlockQ.h"
#include "blocktim.h"
#include "countsem.h"
#include "death.h"
#include "dynamic.h"
#include "GenQTest.h"
#include "integer.h"
#include "PollQ.h"
#include "QPeek.h"
#include "recmutex.h"
#include "semtest.h"
#include "ParTest.h"
#include "comtest2.h"

/* Standard includes. */
#include <stdio.h>

/* Atmel library includes. */
#include <pio/pio.h>

/* Priorities for the demo application tasks. */
#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 0 )
#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 0 )
#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainCREATOR_TASK_PRIORITY 	( tskIDLE_PRIORITY + 3 )
#define mainGENERIC_QUEUE_PRIORITY	( tskIDLE_PRIORITY )

/* The period of the check task both in and out of the presense of an error. */
#define mainNO_ERROR_PERIOD			( 5000 / portTICK_RATE_MS )
#define mainERROR_PERIOD			( 500 / portTICK_RATE_MS );

/* Constants used by the ComTest task. */
#define mainCOM_TEST_BAUD_RATE		( 38400 )
#define mainCOM_TEST_LED			( LED_DS1 )

/*-----------------------------------------------------------*/

/* Simple hardware setup required by the demo. */
static void prvSetupHardware( void );

/* The check task as described at the top of this file. */
static void prvCheckTask( void *pvParameters );

/*-----------------------------------------------------------*/
int main()
{
	/* Perform any hardware setup necessary to run the demo. */
	prvSetupHardware();
	
	/* First create the 'standard demo' tasks.  These exist just to to
	demonstrate API functions being used and test the kernel port.  More
	information is provided on the FreeRTOS.org WEB site. */
	vStartIntegerMathTasks( tskIDLE_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartDynamicPriorityTasks();
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vCreateBlockTimeTasks();
	vStartCountingSemaphoreTasks();
	vStartGenericQueueTasks( tskIDLE_PRIORITY );
	vStartQueuePeekTasks();
	vStartRecursiveMutexTasks();
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
	
	/* Create the check task - this is the task that checks all the other tasks
	are executing as expected and without reporting any errors. */
	xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, NULL );
	
	/* The death demo tasks must be started last as the sanity checks performed
	require knowledge of the number of other tasks in the system. */
	vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
	
	/* Start the scheduler.  From this point on the execution will be under
	the control of the kernel. */
	vTaskStartScheduler();
	
	/* Will only get here if there was insufficient heap availale for the
	idle task to be created. */
	for( ;; );
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void * pvParameters )
{
portTickType xNextWakeTime, xPeriod = mainNO_ERROR_PERIOD;
static volatile unsigned long ulErrorCode = 0UL;

	/* Just to remove the compiler warning. */
	( void ) pvParameters;

	/* Initialise xNextWakeTime prior to its first use.  From this point on
	the value of the variable is handled automatically by the kernel. */
	xNextWakeTime = xTaskGetTickCount();
	
	for( ;; )
	{
		/* Delay until it is time for this task to execute again. */
		vTaskDelayUntil( &xNextWakeTime, xPeriod );
		
		/* Check all the other tasks in the system - latch any reported errors
		into the ulErrorCode variable. */
		if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x01UL;
		}

		if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x02UL;
		}

		if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x04UL;
		}

		if( xIsCreateTaskStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x08UL;
		}

		if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x10UL;
		}

		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x20UL;
		}

		if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x40UL;
		}

		if( xArePollingQueuesStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x80UL;
		}

		if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x100UL;
		}

		if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x200UL;
		}

		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x400UL;
		}
		
		if( xAreComTestTasksStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x800UL;
		}
		
		/* Reduce the block period and in so doing increase the frequency at
		which this task executes if any errors have been latched.  The increased
		frequency causes the LED toggle rate to increase and so gives some
		visual feedback that an error has occurred. */
		if( ulErrorCode != 0x00 )
		{
			xPeriod = mainERROR_PERIOD;
		}
		
		/* Finally toggle the LED. */
		vParTestToggleLED( LED_POWER );
	}
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
const Pin xPins[] = { PIN_USART0_RXD, PIN_USART0_TXD };

	/* Setup the LED outputs. */
	vParTestInitialise();
	
	/* Setup the pins for the UART. */
	PIO_Configure( xPins, PIO_LISTSIZE( xPins ) );	
}