/*
    FreeRTOS V7.2.0 - Copyright (C) 2012 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!
    
    ***************************************************************************
     *                                                                       *
     *    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, training, latest information, 
    license and contact details.
    
    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
    including FreeRTOS+Trace - an indispensable productivity tool.

    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.OpenRTOS.com.  High Integrity Systems also
    provide a safety engineered and independently SIL3 certified version under 
    the SafeRTOS brand: http://www.SafeRTOS.com.
*/

/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the standard demo application tasks
 * (which just exist to test the kernel port and provide an example of how to use
 * each FreeRTOS API function).
 *
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "LCD" task - the LCD task is a 'gatekeeper' task.  It is the only task that
 * is permitted to access the display directly.  Other tasks wishing to write a
 * message to the LCD send the message on a queue to the LCD task instead of
 * accessing the LCD themselves.  The LCD task just blocks on the queue waiting
 * for messages - waking and displaying the messages as they arrive.  The use
 * of a gatekeeper in this manner permits both tasks and interrupts to write to
 * the LCD without worrying about mutual exclusion.  This is demonstrated by the
 * check hook (see below) which sends messages to the display even though it
 * executes from an interrupt context.
 *
 * "Check" hook -  This only executes fully every five seconds from the tick
 * hook.  Its main function is to check that all the standard demo tasks are
 * still operational.  Should any unexpected behaviour be discovered within a
 * demo task then the tick hook will write an error to the LCD (via the LCD task).
 * If all the demo tasks are executing with their expected behaviour then the
 * check task writes PASS to the LCD (again via the LCD task), as described above.
 *
 */

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"

/* Demo app includes. */
#include "BlockQ.h"
#include "integer.h"
#include "blocktim.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "PollQ.h"
#include "lcd_message.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "flash.h"
#include "comtest2.h"

/* Atmel library includes. */
#include <board.h>
#include <lcd/color.h>
#include <lcd/lcdd.h>
#include <lcd/draw.h>


/*-----------------------------------------------------------*/

/* The time between cycles of the 'check' functionality (defined within the
tick hook). */
#define mainCHECK_DELAY						( ( portTickType ) 5000 / portTICK_RATE_MS )

/* The LCD task uses the sprintf function so requires a little more stack too. */
#define mainLCD_TASK_STACK_SIZE				( configMINIMAL_STACK_SIZE * 2 )

/* Task priorities. */
#define mainQUEUE_POLL_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainSEM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainLED_TASK_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainCOM_TEST_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )

/* The maximum number of message that can be waiting for display at any one
time. */
#define mainLCD_QUEUE_SIZE					( 3 )

/* Constants used by the comtest tasks.  There isn't a spare LED so an invalid
LED is specified. */
#define mainBAUD_RATE						( 115200 )
#define mainCOM_TEST_LED					( 10 )

/*-----------------------------------------------------------*/

/*
 * Configure the hardware for the demo.
 */
static void prvSetupHardware( void );

/*
 * The LCD gatekeeper task.  Tasks wishing to write to the LCD do not access
 * the LCD directly, but instead send the message to the LCD gatekeeper task.
 */
static void prvLCDTask( void *pvParameters );

/*
 * Hook functions that can get called by the kernel.  The 'check' functionality
 * is implemented within the tick hook.
 */
void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName );

/*
 * The tick hook function as described in the comments at the top of this file.
 * The tick hook is used to monitor all the standard demo tasks to look for
 * errors.  The tick hook is also used to demonstrate how the LCD gatekeeper
 * task can be used to allow interrupts to write to the LCD.
 */
void vApplicationTickHook( void );


/*-----------------------------------------------------------*/

/* The queue used to send messages to the LCD task. */
static xQueueHandle xLCDQueue;

/*-----------------------------------------------------------*/

int main( void )
{
	/* Prepare the hardware. */
	prvSetupHardware();

	/* Create the queue used by the LCD task.  Messages for display on the LCD
	are received via this queue. */
	xLCDQueue = xQueueCreate( mainLCD_QUEUE_SIZE, sizeof( xLCDMessage ) );

	/* Start the standard demo tasks.  These do nothing other than test the
	port and provide some APU usage examples. */
    vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
    vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartRecursiveMutexTasks();	
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vCreateBlockTimeTasks();
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartQueuePeekTasks();	
	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );	
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainBAUD_RATE, mainCOM_TEST_LED );

	/* Start the tasks defined within this file/specific to this demo. */
	xTaskCreate( prvLCDTask, ( signed char * ) "LCD", mainLCD_TASK_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

	/* Start the scheduler. */
	vTaskStartScheduler();

    /* Will only get here if there was insufficient memory to create the idle
    task. */
	return 0;
}
/*-----------------------------------------------------------*/

void prvSetupHardware( void )
{
	/* Initialise the port used for the LED outputs. */
	vParTestInitialise();
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
static xLCDMessage xMessage = { "PASS" };
static unsigned long ulTicksSinceLastDisplay = 0;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

	/* Called from every tick interrupt.  Have enough ticks passed to make it
	time to perform our health status check again? */
	ulTicksSinceLastDisplay++;
	if( ulTicksSinceLastDisplay >= mainCHECK_DELAY )
	{
		ulTicksSinceLastDisplay = 0;
		
		/* Has an error been found in any task? */
		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN GEN Q";
		}
	    if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
	    {
	        xMessage.pcMessage = "ERROR IN MATH";
	    }
		else if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN BLOCK Q";
		}
		else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN BLOCK TIME";
		}
		else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN SEMAPHORE";
		}
		else if( xArePollingQueuesStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN POLL Q";
		}
		else if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN PEEK Q";
		}			
		else if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN REC MUTEX";
		}		
		else if( xAreComTestTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN COMTEST";
		}
		
		/* Send the message to the LCD gatekeeper for display. */
		xHigherPriorityTaskWoken = pdFALSE;
		xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );
	}
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( xTaskHandle pxTask, signed char *pcTaskName )
{
	( void ) pxTask;
	( void ) pcTaskName;

	/* If the parameters have been corrupted then inspect pxCurrentTCB to
	identify which task has overflowed its stack. */
	for( ;; );
}
/*-----------------------------------------------------------*/

static void prvLCDTask( void *pvParameters )
{
xLCDMessage xMessage;
unsigned long ulY = 0;
const unsigned long ulX = 5;
const unsigned long ulMaxY = 250, ulYIncrement = 22, ulWidth = 250, ulHeight = 20;;

    /* Initialize LCD. */
    LCDD_Initialize();
    LCDD_Start();	
	LCDD_Fill( ( void * ) BOARD_LCD_BASE, COLOR_WHITE );
	LCDD_DrawString( ( void * ) BOARD_LCD_BASE, 1, ulY + 3, "  www.FreeRTOS.org", COLOR_BLACK );
	
	for( ;; )
	{
		/* Wait for a message from the check function (which is executed in
		the tick hook). */
		xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY );

		/* Clear the space where the old message was. */
        LCDD_DrawRectangle( ( void * ) BOARD_LCD_BASE, 0, ulY, ulWidth, ulHeight, COLOR_WHITE );
		
		/* Increment to the next drawing position. */
		ulY += ulYIncrement;
		
		/* Have the Y position moved past the end of the LCD? */
		if( ulY >= ulMaxY )
		{
			ulY = 0;
		}

		/* Draw a new rectangle, in which the message will be written. */
        LCDD_DrawRectangle( ( void * ) BOARD_LCD_BASE, 0, ulY, ulWidth, ulHeight, COLOR_GREEN );
		
		/* Write the message. */
        LCDD_DrawString( ( void * ) BOARD_LCD_BASE, ulX, ulY + 3, xMessage.pcMessage, COLOR_BLACK );
	}
}