/*
    FreeRTOS V7.0.2 - Copyright (C) 2011 Real Time Engineers Ltd.
	

    ***************************************************************************
     *                                                                       *
     *    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 Richard Barry, contact details for whom are available on the
    FreeRTOS WEB site.

    1 tab == 4 spaces!

    http://www.FreeRTOS.org - Documentation, latest information, license and
    contact details.

    http://www.SafeRTOS.com - A version that is certified for use in safety
    critical systems.

    http://www.OpenRTOS.com - Commercial support, development, porting,
    licensing and training services.
*/

/*
 *******************************************************************************
 * -NOTE- The Win32 port is a simulation (or is that emulation?) only!  Do not
 * expect to get real time behaviour from the Win32 port or this demo
 * application.  It is provided as a convenient development and demonstration
 * test bed only.  This was tested using Windows XP on a dual core laptop.
 *
 * - READ THE WEB DOCUMENTATION FOR THIS PORT FOR MORE INFORMATION ON USING IT -
 *******************************************************************************
 *
 * main() creates all the demo application tasks, 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:
 *
 * "Check" task - This only executes every five 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.  While no errors have been
 * discovered the check task will print out "OK" and the current simulated tick
 * time.  If an error is discovered in the execution of a task then the check
 * task will print out an appropriate error message.
 *
 */


/* Standard includes. */
#include <stdio.h>

/* Kernel includes. */
#include <FreeRTOS.h>
#include "task.h"
#include "queue.h"
#include "timers.h"
#include "semphr.h"

/* Standard demo includes. */
#include "BlockQ.h"
#include "integer.h"
#include "semtest.h"
#include "PollQ.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "flop.h"
#include "TimerDemo.h"
#include "countsem.h"

/* Priorities at which the tasks are created. */
#define mainCHECK_TASK_PRIORITY		( configMAX_PRIORITIES - 1 )
#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 1 )
#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainCREATOR_TASK_PRIORITY   ( tskIDLE_PRIORITY + 3 )
#define mainFLASH_TASK_PRIORITY		( tskIDLE_PRIORITY + 1 )
#define mainuIP_TASK_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_TASK_PRIORITY   ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY	( tskIDLE_PRIORITY )
#define mainFLOP_TASK_PRIORITY		( tskIDLE_PRIORITY )

#define mainTIMER_TEST_PERIOD			( 50 )

/* Task function prototypes. */
static void prvCheckTask( void *pvParameters );

/* The variable into which error messages are latched. */
static char *pcStatusMessage = "OK";

/* This semaphore is created purely to test using the vSemaphoreDelete() API
function.  It has no other purpose. */
static xSemaphoreHandle xSemaphoreToDelete = NULL;

/*-----------------------------------------------------------*/

int main( void )
{
	/* Start the check task as described at the top of this file. */
	xTaskCreate( prvCheckTask, ( signed char * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Create the standard demo tasks. */
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartQueuePeekTasks();
	vStartMathTasks( mainFLOP_TASK_PRIORITY );
	vStartRecursiveMutexTasks();
	vStartTimerDemoTask( mainTIMER_TEST_PERIOD );
	vStartCountingSemaphoreTasks();

	/* Create the semaphore that will be deleted in the idle task hook.  This
	is done purely to test the use of vSemaphoreDelete(). */
	xSemaphoreToDelete = xSemaphoreCreateMutex();

	/* Start the scheduler itself. */
	vTaskStartScheduler();

    /* Should never get here unless there was not enough heap space to create 
	the idle and other system tasks. */
    return 0;
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void *pvParameters )
{
portTickType xNextWakeTime;
const portTickType xCycleFrequency = 1000 / portTICK_RATE_MS;

	/* Just to remove compiler warning. */
	( void ) pvParameters;

	/* Initialise xNextWakeTime - this only needs to be done once. */
	xNextWakeTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Place this task in the blocked state until it is time to run again. */
		vTaskDelayUntil( &xNextWakeTime, xCycleFrequency );

		/* Check the standard demo tasks are running without error. */
		if( xAreTimerDemoTasksStillRunning( xCycleFrequency ) != pdTRUE )
		{
			pcStatusMessage = "Error: TimerDemo";
		}
	    else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	    {
			pcStatusMessage = "Error: IntMath";
	    }	
		else if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{			
			pcStatusMessage = "Error: GenQueue";
		}
		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: QueuePeek";
		}
		else if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: BlockQueue";
		}
	    else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	    {
			pcStatusMessage = "Error: SemTest";
	    }
	    else if( xArePollingQueuesStillRunning() != pdTRUE )
	    {
			pcStatusMessage = "Error: PollQueue";
	    }
		else if( xAreMathsTaskStillRunning() != pdPASS )
		{
			pcStatusMessage = "Error: Flop";
		}
	    else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	    {
			pcStatusMessage = "Error: RecMutex";
		}
		else if( xAreCountingSemaphoreTasksStillRunning() != pdTRUE )
		{
			pcStatusMessage = "Error: CountSem";
		}

		/* This is the only task that uses stdout so its ok to call printf() 
		directly. */
		printf( "%s - %d\r\n", pcStatusMessage, xTaskGetTickCount() );
	}
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
const unsigned long ulMSToSleep = 5;
xTaskHandle xIdleTaskHandle, xTimerTaskHandle;
signed char *pcTaskName;

	/* Sleep to reduce CPU load, but don't sleep indefinitely in case there are
	tasks waiting to be terminated by the idle task. */
	Sleep( ulMSToSleep );

	/* Demonstrate the use of the xTimerGetTimerDaemonTaskHandle() and 
	xTaskGetIdleTaskHandle() functions. */
	xIdleTaskHandle = xTaskGetIdleTaskHandle();
	xTimerTaskHandle = xTimerGetTimerDaemonTaskHandle();

	/* This is the idle hook, so the current task handle should equal the 
	returned idle task handle. */
	if( xTaskGetCurrentTaskHandle() != xIdleTaskHandle )
	{
		pcStatusMessage = "Error:  Returned idle task handle was incorrect";
	}

	/* Check the timer task handle was returned correctly. */
	pcTaskName = pcTaskGetTaskName( xTimerTaskHandle );
	if( strcmp( pcTaskName, "Tmr Svc" ) != 0 )
	{
		pcStatusMessage = "Error:  Returned timer task handle was incorrect";
	}

	/* If xSemaphoreToDelete has not already been deleted, then delete it now.
	This is done purely to demonstrate the use of, and test, the 
	vSemaphoreDelete() macro.  Care must be taken not to delete a semaphore
	that has tasks blocked on it. */
	if( xSemaphoreToDelete != NULL )
	{
		vSemaphoreDelete( xSemaphoreToDelete );
		xSemaphoreToDelete = NULL;
	}
}
/*-----------------------------------------------------------*/

void vApplicationMallocFailedHook( void )
{
	/* Can be implemented if required, but probably not required in this 
	environment and running this demo. */
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( void )
{
	/* Can be implemented if required, but not required in this 
	environment and running this demo. */
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
	/* Call the periodic timer test, which tests the timer API functions that
	can be called from an ISR. */
	vTimerPeriodicISRTests();
}
/*-----------------------------------------------------------*/

void vAssertCalled( void )
{
	taskDISABLE_INTERRUPTS();
	for( ;; );
}