/*
    FreeRTOS V7.4.0 - 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        *
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     *    professional grade, cross platform, de facto standard solutions    *
     *    for microcontrollers - completely free of charge!                  *
     *                                                                       *
     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
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     *    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
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    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 itcan 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                               *
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    ***************************************************************************


    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, 
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    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.
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "Web server" - Very basic demonstration of the uIP stack.  The WEB server
 * simply generates a page that shows the current state of all the tasks within
 * the system, including the high water mark of each task stack. The high water
 * mark is displayed as the amount of stack that has never been used, so the
 * closer the value is to zero the closer the task has come to overflowing its
 * stack.  The IP address and net mask are set within FreeRTOSConfig.h.  Sub
 * pages display some TCP/IP status information and permit LED3 to be turned on
 * and off using a check box.
 *
 * Tick hook function that implements a "Check" function -  This is executed 
 * every 5 seconds from the tick hook function.  It checks to ensure that all 
 * the standard demo tasks are still operational and running without error.  
 * The system status (pass/fail) is then displayed underneith the task table on 
 * the served WEB pages.  
 *
 * "Reg test" tasks - These fill the registers with known values, then check
 * that each register still contains its expected value.  Each task uses
 * different values.  The tasks run with very low priority so get preempted very
 * frequently.  A register containing an unexpected value is indicative of an
 * error in the context switching mechanism.
 *
 */

/* Standard includes. */
#include <stdio.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"

/* Demo app includes. */
#include "BlockQ.h"
#include "death.h"
#include "flash.h"
#include "partest.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"

/*-----------------------------------------------------------*/

/* ComTest constants - there is no free LED for the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE				( ( unsigned long ) 19200 )
#define mainCOM_TEST_LED					( 5 )

/* Task priorities. */
#define mainQUEUE_POLL_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )
#define mainWEB_TASK_PRIORITY       		( tskIDLE_PRIORITY + 2 )

/* WEB server requires enough stack for the string handling functions. */
#define mainBASIC_WEB_STACK_SIZE            ( configMINIMAL_STACK_SIZE * 2 )

/*
 * Configure the hardware for the demo.
 */
static void prvSetupHardware( void );

/*
 * Implements the 'check' function as described at the top of this file.
 */
static void prvCheckFunction( void );

/*
 * Implement the 'Reg test' functionality as described at the top of this file.
 */
static void vRegTest1Task( void *pvParameters );
static void vRegTest2Task( void *pvParameters );

/*
 * The task that handles the uIP stack.  All TCP/IP processing is performed in
 * this task.
 */
extern void vuIP_Task( void *pvParameters );

/*-----------------------------------------------------------*/

/* Counters used to detect errors within the reg test tasks. */
static volatile unsigned long ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;

/* Flag that latches any errors detected in the system. */
unsigned long ulCheckErrors = 0;

/*-----------------------------------------------------------*/

int main( void )
{
extern void vBasicWEBServer( void *pv );

	/* Setup the hardware ready for this demo. */
	prvSetupHardware();
	
	xTaskCreate( vuIP_Task, ( signed char * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );

	/* Start the standard demo tasks. */
	vStartLEDFlashTasks( tskIDLE_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartQueuePeekTasks();
	vStartRecursiveMutexTasks();
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

	/* Start the reg test tasks - defined in this file. */
	xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );

	/* Start the scheduler. */
	vTaskStartScheduler();

    /* Will only get here if there was insufficient memory to create the idle
    task. */
	for( ;; )
	{
	}
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
static unsigned long ulExecutionCount = 0, ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
const unsigned long ulExecutionRate = 5000 / portTICK_RATE_MS;
	
    /* Increment the count of how many times the tick hook has been called. */
    ulExecutionCount++;
    
    /* Is it time to perform the check again? */
	if( ulExecutionCount >= ulExecutionRate )
	{
		/* Reset the execution count so this function is called again in 5
		seconds time. */
		ulExecutionCount = 0;
	
		/* Has an error been found in any task? */
		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			ulCheckErrors |= 0x01UL;
		}

		if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			ulCheckErrors |= 0x02UL;
		}

		if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			ulCheckErrors |= 0x04UL;
		}

		if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	    {
	    	ulCheckErrors |= 0x200UL;
	    }

		if( ulLastRegTest1Count == ulRegTest1Counter )
		{
			ulCheckErrors |= 0x1000UL;
		}

		if( ulLastRegTest2Count == ulRegTest2Counter )
		{
			ulCheckErrors |= 0x1000UL;
		}

		ulLastRegTest1Count = ulRegTest1Counter;
		ulLastRegTest2Count = ulRegTest2Counter;
	}
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void ) 
{
	/* Disable the watchdog, STOP and WAIT modes. */
	SOPT1 = 0;

	/* --- Setup clock to use external 25MHz source. --- */
	
	/* Extal and xtal pin ON. */
	PTDPF1_D4 = 0x03;
	PTDPF1_D5 = 0x03;

	/* Switch from FEI to FBE (FLL bypassed external)
	enable external clock source */
	MCGC2 = MCGC2_ERCLKEN_MASK  /* Activate external reference clock */
	      | MCGC2_EREFS_MASK    /* Because crystal is being used */
	      | MCGC2_RANGE_MASK;   /* High range */
	        
	/* Select clock mode and clear IREFs. */
	MCGC1 = (0x02 << 6 )        /* CLKS = 10 -> external reference clock. */
	      | (0x04 << 3 )        /* RDIV = 2^4 -> 25MHz/16 = 1.5625 MHz */
	      | MCGC1_IRCLKEN_MASK; /* IRCLK to RTC enabled */
	  
	/* Wait for Reference and Clock status bits to update. */
	while( MCGSC_IREFST | ( MCGSC_CLKST != 0x02 ) )
	{
		/* Nothing to do here. */
	}

	/* Switch from FBE to PBE (PLL bypassed internal) mode. */
	MCGC3 =  0x08               /* Set PLL multi 50MHz. */
	      |  MCGC3_PLLS_MASK;   /* Select PLL. */

	/* Wait for PLL status and lock bits to update. */
	while( !MCGSC_PLLST | !MCGSC_LOCK )
	{
		/* Nothing to do here. */
	}


	/* Now in PBE Mode, finally switch from PBE to PEE (PLL enabled external 
	mode). */
	MCGC1_CLKS  = 0b00; /* PLL clock to system (MCGOUT) */

	/* Wait for the clock status bits to update. */
	while( MCGSC_CLKST != 0x03 )
	{
		/* Nothing to do here. */
	}

	/* Setup the IO for the LED outputs. */
	vParTestInitialise();
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
{
	/* This will get called if a stack overflow is detected during the context
	switch.  Set configCHECK_FOR_STACK_OVERFLOWS to 2 to also check for stack
	problems within nested interrupts, but only do this for debug purposes as
	it will increase the context switch time. */

	( void ) pxTask;
	( void ) pcTaskName;

	for( ;; )
	{
	}
}
/*-----------------------------------------------------------*/

static void vRegTest1Task( void *pvParameters )
{
  /* Just to remove compiler warnings. */
  ( void ) pvParameters;
  
	/* Set all the registers to known values, then check that each retains its
	expected value - as described at the top of this file.  If an error is
	found then the loop counter will no longer be incremented allowing the check
	task to recognise the error. */
	asm volatile 	(	"reg_test_1_start:						\n\t"
						"	moveq		#1, d0					\n\t"
						"	moveq		#2, d1					\n\t"
						"	moveq		#3, d2					\n\t"
						"	moveq		#4, d3					\n\t"
						"	moveq		#5, d4					\n\t"
						"	moveq		#6, d5					\n\t"						
						"	moveq		#7, d6					\n\t"
						"	moveq		#8, d7					\n\t"
						"	move		#9, a0					\n\t"
						"	move		#10, a1					\n\t"
						"	move		#11, a2					\n\t"
						"	move		#12, a3					\n\t"
						"	move		#13, a4					\n\t"
						"	move		#15, a6					\n\t"
						"										\n\t"
						"	cmpi.l		#1, d0					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#2, d1					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#3, d2					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#4, d3					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#5, d4					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#6, d5					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#7, d6					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	cmpi.l		#8, d7					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		a0, d0					\n\t"
						"	cmpi.l		#9, d0					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		a1, d0					\n\t"
						"	cmpi.l		#10, d0					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		a2, d0					\n\t"
						"	cmpi.l		#11, d0					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		a3, d0					\n\t"
						"	cmpi.l		#12, d0					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		a4, d0					\n\t"
						"	cmpi.l		#13, d0					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		a6, d0					\n\t"
						"	cmpi.l		#15, d0					\n\t"
						"	bne			reg_test_1_error		\n\t"
						"	move		ulRegTest1Counter, d0	\n\t"
						"	addq		#1, d0					\n\t"
						"	move		d0, ulRegTest1Counter	\n\t"
						"	bra			reg_test_1_start		\n\t"
						"reg_test_1_error:						\n\t"
						"	bra			reg_test_1_error		\n\t"
					);
}
/*-----------------------------------------------------------*/

static void vRegTest2Task( void *pvParameters )
{
  /* Just to remove compiler warnings. */
  ( void ) pvParameters;

	/* Set all the registers to known values, then check that each retains its
	expected value - as described at the top of this file.  If an error is
	found then the loop counter will no longer be incremented allowing the check
	task to recognise the error. */
	asm volatile 	(	"reg_test_2_start:						\n\t"
						"	moveq		#10, d0					\n\t"
						"	moveq		#20, d1					\n\t"
						"	moveq		#30, d2					\n\t"
						"	moveq		#40, d3					\n\t"
						"	moveq		#50, d4					\n\t"
						"	moveq		#60, d5					\n\t"
						"	moveq		#70, d6					\n\t"
						"	moveq		#80, d7					\n\t"
						"	move		#90, a0					\n\t"
						"	move		#100, a1				\n\t"
						"	move		#110, a2				\n\t"
						"	move		#120, a3				\n\t"
						"	move		#130, a4				\n\t"
						"	move		#150, a6				\n\t"
						"										\n\t"
						"	cmpi.l		#10, d0					\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#20, d1					\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#30, d2					\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#40, d3					\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#50, d4					\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#60, d5					\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#70, d6					\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	cmpi.l		#80, d7					\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		a0, d0					\n\t"
						"	cmpi.l		#90, d0					\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		a1, d0					\n\t"
						"	cmpi.l		#100, d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		a2, d0					\n\t"
						"	cmpi.l		#110, d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		a3, d0					\n\t"
						"	cmpi.l		#120, d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		a4, d0					\n\t"
						"	cmpi.l		#130, d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		a6, d0					\n\t"
						"	cmpi.l		#150, d0				\n\t"
						"	bne			reg_test_2_error		\n\t"
						"	move		ulRegTest1Counter, d0	\n\t"
						"	addq		#1, d0					\n\t"
						"	move		d0, ulRegTest2Counter	\n\t"
						"	bra			reg_test_2_start		\n\t"
						"reg_test_2_error:						\n\t"
						"	bra			reg_test_2_error		\n\t"
					);
}
/*-----------------------------------------------------------*/