/*
    FreeRTOS V8.2.2 - 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

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS provides completely free yet professionally developed,    *
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     *    is the industry's de facto standard.                               *
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    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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    1 tab == 4 spaces!
*/

/*
 * Creates all the demo application tasks, then starts the scheduler.
 *
 * 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 (other than the "flash" tasks) 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 the on board LED.  Should any task contain an error at any time
 * the LED toggle rate will change from 3 seconds to 500ms.
 *
 * NOTE:  The demo application includes tasks that send and receive characters
 * over the UART. The characters sent by one task are received by another -
 * with an error condition being flagged should any characters be missed or
 * received out of order. A loopback connector is required on the 9way D socket
 * for this mechanism to operation (pins 2 and 3 the socket should be connected
 * together - a paper clip is normally sufficient).
 *
 */

/* Standard includes. */
#include <stdlib.h>
#include <string.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Demo application includes. */
#include "partest.h"
#include "flash.h"
#include "integer.h"
#include "PollQ.h"
#include "comtest2.h"
#include "semtest.h"
#include "flop.h"
#include "dynamic.h"
#include "BlockQ.h"
#include "serial.h"
#include "demoGpio.h"
#include "7seg.h"
#include "RegTest.h"

/*-----------------------------------------------------------*/

/* Constants for the ComTest tasks. */
#define mainCOM_TEST_BAUD_RATE	( ( unsigned long ) 115200 )
#define mainCOM_TEST_LED		( 5 )

/* Priorities for the demo application tasks. */
#define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 4 )
#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define main7SEG_TASK_PRIORITY		( tskIDLE_PRIORITY + 2 )

/* The rate at which the on board LED will toggle when there is/is not an
error. */
#define mainNO_ERROR_FLASH_PERIOD	( ( TickType_t ) 3000 / portTICK_PERIOD_MS	)
#define mainERROR_FLASH_PERIOD		( ( TickType_t ) 500 / portTICK_PERIOD_MS  )
#define mainON_BOARD_LED_BIT		( ( unsigned long ) 7 )

/* The size of the memory blocks allocated by the vMemCheckTask() task. */
#define mainMEM_CHECK_SIZE_1		( ( size_t ) 51 )
#define mainMEM_CHECK_SIZE_2		( ( size_t ) 52 )
#define mainMEM_CHECK_SIZE_3		( ( size_t ) 151 )

/*-----------------------------------------------------------*/

/*
 * Checks that all the demo application tasks are still executing without error
 * - as described at the top of the file.
 */
static long prvCheckOtherTasksAreStillRunning( void );

/*
 * The task that executes at the highest priority and calls
 * prvCheckOtherTasksAreStillRunning().	 See the description at the top
 * of the file.
 */
static void vErrorChecks( void *pvParameters );

/*
 * Configure the processor for use with the Olimex demo board.	This includes
 * setup for the I/O, system clock, and access timings.
 */
static void prvSetupHardware( void );


/*-----------------------------------------------------------*/

/*
 * Starts all the other tasks, then starts the scheduler.
 */
int main( void )
{
	/* Setup the hardware for use with the Xilinx evaluation board. */
	prvSetupHardware();

	/* Start the demo/test application tasks. */
	vStartIntegerMathTasks( tskIDLE_PRIORITY );
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartDynamicPriorityTasks();
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vStart7SegTasks( main7SEG_TASK_PRIORITY );
	vStartRegTestTasks();

	/* Start the check task - which is defined in this file. */
	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Now all the tasks have been started - start the scheduler. */
	vTaskStartScheduler();

	/* Should never reach here! */
	for( ;; );
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void *pvParameters )
{
TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;

	/* Just to stop compiler warnings. */
	( void ) pvParameters;

	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error.  If an error is detected then the delay period
	is decreased from mainNO_ERROR_FLASH_PERIOD to mainERROR_FLASH_PERIOD so
	the on board LED flash rate will increase. */

	for( ;; )
	{
		/* Delay until it is time to execute again. */
		vTaskDelay( xDelayPeriod );

		/* Check all the standard demo application tasks are executing without
		error.	*/
		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
		{
			/* An error has been detected in one of the tasks - flash faster. */
			xDelayPeriod = mainERROR_FLASH_PERIOD;
		}

		/* The toggle rate of the LED depends on how long this task delays for.
		An error reduces the delay period and so increases the toggle rate. */
		vParTestToggleLED( mainON_BOARD_LED_BIT );
	}
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	/* Initialise LED outputs. */
	vParTestInitialise();
}
/*-----------------------------------------------------------*/

static long prvCheckOtherTasksAreStillRunning( void )
{
long lReturn = pdPASS;

	/* Check all the demo tasks (other than the flash tasks) to ensure
	that they are all still running, and that none of them have detected
	an error. */

	if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	{
		lReturn = pdFAIL;
	}

	if( xAreComTestTasksStillRunning() != pdTRUE )
	{
		lReturn = pdFAIL;
	}

	if( xArePollingQueuesStillRunning() != pdTRUE )
	{
		lReturn = pdFAIL;
	}

	if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	{
		lReturn = pdFAIL;
	}

	if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
	{
		lReturn = pdFAIL;
	}

	if( xAreBlockingQueuesStillRunning() != pdTRUE )
	{
		lReturn = pdFAIL;
	}

	if( xAreRegTestTasksStillRunning() != pdTRUE )
	{
		lReturn = pdFAIL;
	}

	return lReturn;
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
	/* This function will be called if a task overflows its stack.  Inspect
	pxCurrentTCB to find the offending task if the overflow was sever enough
	to corrupt the pcTaskName parameter. */
	vParTestSetLED( 4, 1 );
	for( ;; );
}
/*-----------------------------------------------------------*/

void vApplicationMallocFailedHook( void )
{
	/* This function will be called if a call to pvPortMalloc() fails to return
	the requested memory.  pvPortMalloc() is called internally by the scheduler
	whenever a task, queue or semaphore is created. */
	vParTestSetLED( 4, 1 );
	for( ;; );
}
/*-----------------------------------------------------------*/

/* Provide an exit function to prevent a whole load of standard library functions
being brought into the build. */
void exit( int status )
{
	for( ;; );
}