/*
 * FreeRTOS Kernel V10.2.1
 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * http://www.FreeRTOS.org
 * http://aws.amazon.com/freertos
 *
 * 1 tab == 4 spaces!
 */

/******************************************************************************
 * NOTE 1:  This project provides two demo applications.  A simple blinky style
 * project, and a more comprehensive test and demo application.  The
 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting in main.c is used to select
 * between the two.  See the notes on using mainCREATE_SIMPLE_BLINKY_DEMO_ONLY
 * in main.c.  This file implements the comprehensive test and demo 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:
 *
 * "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. The LED used is defined in mainCHECK_LED, below.
 *
 * NOTE on LEDS:
 *
 *     This demo is NOT configured to use the LED built onto the SAMA6D2
 *     XPLained board!
 *
 *     The LED driver PIN_LED definitions have been altered in
 *     board_sama5d2-xplained.h to remap them to GPIOs terminating on pins 30,
 *     32 and 34 of J17. (This change is conditional on the preprocessor
 *     #define "LEDS_ON_J17".) These GPIOs are configured to be "high drive"
 *     push-pull outputs; they can source up to 18mA at 1.8v. Low
 *     forward-voltage LEDs may be connected via 100 ohm resistors to pins
 *     30, 32 and 34 with their cathodes to pin 35/36 (GND).
 */

/* Standard includes. */
#include <stdio.h>

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "timers.h"
#include "semphr.h"

/* Standard demo application includes. */
#include "flop.h"
#include "semtest.h"
#include "dynamic.h"
#include "BlockQ.h"
#include "blocktim.h"
#include "countsem.h"
#include "GenQTest.h"
#include "recmutex.h"
#include "death.h"
#include "partest.h"
#include "comtest2.h"
#include "serial.h"
#include "TimerDemo.h"
#include "QueueOverwrite.h"
#include "IntQueue.h"
#include "EventGroupsDemo.h"
#include "flash.h"

/* Priorities for the demo application tasks. */
#define mainLED_FLASH_TASK_PRIORITY			( tskIDLE_PRIORITY + 1UL )
#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 mainCDC_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 )

/* The initial priority used by the UART command console task. */
#define mainUART_COMMAND_CONSOLE_TASK_PRIORITY	( configMAX_PRIORITIES - 2 )

/* The LED used by the check task. */
#define mainCHECK_LED						( 2 )

/* A block time of zero simply means "don't block". */
#define mainDONT_BLOCK						( 0UL )

/* The period of the check task, 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 pdMS_TO_TICKS() macro constant. */
#define mainNO_ERROR_CHECK_TASK_PERIOD		pdMS_TO_TICKS( 3000UL )

/* The period of the check task, 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
pdMS_TO_TICKS() macro. */
#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 )

/*-----------------------------------------------------------*/

/*
 * Called by main() to run the full demo (as opposed to the blinky demo) when
 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
 */
void main_full( void );

/*
 * 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 );

/*
 * A high priority task that does nothing other than execute at a pseudo random
 * time to ensure the other test tasks don't just execute in a repeating
 * pattern.
 */
static void prvPseudoRandomiser( void *pvParameters );

/*-----------------------------------------------------------*/

/* 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. */
	vStartInterruptQueueTasks();
	vStartDynamicPriorityTasks();
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vCreateBlockTimeTasks();
	vStartCountingSemaphoreTasks();
	vStartGenericQueueTasks( tskIDLE_PRIORITY );
	vStartRecursiveMutexTasks();
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartMathTasks( mainFLOP_TASK_PRIORITY );
	vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
	vStartQueueOverwriteTask( mainQUEUE_OVERWRITE_PRIORITY );
	vStartEventGroupTasks();

	/* 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 just adds a little random behaviour. */
	xTaskCreate( prvPseudoRandomiser, "Rnd", configMINIMAL_STACK_SIZE, NULL, configMAX_PRIORITIES - 1, 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 );

	/* The set of tasks created by the following function call have to be
	created last as they keep account of the number of tasks they expect to see
	running. */
	vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

	/* 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( xAreIntQueueTasksStillRunning() != pdTRUE )
		{
			ulErrorFound = pdTRUE;
		}

		if( xAreMathsTaskStillRunning() != pdTRUE )
		{
			ulErrorFound = pdTRUE;
		}

		if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
		{
			ulErrorFound = pdTRUE;
		}

		if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			ulErrorFound = pdTRUE;
		}

		if ( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			ulErrorFound = pdTRUE;
		}

		if ( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			ulErrorFound = pdTRUE;
		}

		if ( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
		{
			ulErrorFound = pdTRUE;
		}

		if( xIsCreateTaskStillRunning() != pdTRUE )
		{
			ulErrorFound = pdTRUE;
		}

		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
		{
			ulErrorFound = pdTRUE;
		}

		if( xAreTimerDemoTasksStillRunning( ( TickType_t ) mainNO_ERROR_CHECK_TASK_PERIOD ) != pdPASS )
		{
			ulErrorFound = pdTRUE;
		}

		if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
		{
			ulErrorFound = pdTRUE;
		}

		if( xIsQueueOverwriteTaskStillRunning() != pdPASS )
		{
			ulErrorFound = pdTRUE;
		}

		if( xAreEventGroupTasksStillRunning() != pdPASS )
		{
			ulErrorFound = pdTRUE;
		}

		/* Check that the register test 1 task is still running. */
		if( ulLastRegTest1Value == ulRegTest1LoopCounter )
		{
			ulErrorFound = pdTRUE;
		}
		ulLastRegTest1Value = ulRegTest1LoopCounter;

		/* Check that the register test 2 task is still running. */
		if( ulLastRegTest2Value == ulRegTest2LoopCounter )
		{
			ulErrorFound = pdTRUE;
		}
		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 (it might just be that the loop back connector required
			by the comtest tasks has not been fitted). */
			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 )
	{
		/* The reg test task also tests the floating point registers.  Tasks
		that use the floating point unit must call vPortTaskUsesFPU() before
		any floating point instructions are executed. */
		vPortTaskUsesFPU();

		/* 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 task 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 )
	{
		/* The reg test task also tests the floating point registers.  Tasks
		that use the floating point unit must call vPortTaskUsesFPU() before
		any floating point instructions are executed. */
		vPortTaskUsesFPU();

		/* 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 task will detect that the regtest loop counter is
	not being incremented and flag an error. */
	vTaskDelete( NULL );
}
/*-----------------------------------------------------------*/

static void prvPseudoRandomiser( void *pvParameters )
{
const uint32_t ulMultiplier = 0x015a4e35UL, ulIncrement = 1UL, ulMinDelay = ( 35 / portTICK_PERIOD_MS ), ulIBit = ( 1UL << 7UL );
volatile uint32_t ulNextRand = ( uint32_t ) &pvParameters, ulValue;

	/* A few minor port tests before entering the randomiser loop.

	At this point interrupts should be enabled. */
	configASSERT( ( __get_CPSR() & ulIBit ) == 0 );

	/* The CPU does not have an interrupt mask register, so critical sections
	have to globally disable interrupts.  Therefore entering a critical section
	should leave the I bit set. */
	taskENTER_CRITICAL();
	configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );

	/* Nest the critical sections. */
	taskENTER_CRITICAL();
	configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );

	/* After yielding the I bit should still be set.  Note yielding is possible
	in a critical section as each task maintains its own critical section
	nesting count so some tasks are in critical sections and others are not -
	however this is *not* something task code should do! */
	taskYIELD();
	configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );

	/* The I bit should not be cleared again until both critical sections have
	been exited. */
	taskEXIT_CRITICAL();
	taskYIELD();
	configASSERT( ( __get_CPSR() & ulIBit ) == ulIBit );
	taskEXIT_CRITICAL();
	configASSERT( ( __get_CPSR() & ulIBit ) == 0 );
	taskYIELD();
	configASSERT( ( __get_CPSR() & ulIBit ) == 0 );

	/* This task does nothing other than ensure there is a little bit of
	disruption in the scheduling pattern of the other tasks.  Normally this is
	done by generating interrupts at pseudo random times. */
	for( ;; )
	{
		ulNextRand = ( ulMultiplier * ulNextRand ) + ulIncrement;
		ulValue = ( ulNextRand >> 16UL ) & 0xffUL;

		if( ulValue < ulMinDelay )
		{
			ulValue = ulMinDelay;
		}

		vTaskDelay( ulValue );

		while( ulValue > 0 )
		{
			__asm volatile( "NOP" );
			__asm volatile( "NOP" );
			__asm volatile( "NOP" );
			__asm volatile( "NOP" );

			ulValue--;
		}
	}
}