/*
    FreeRTOS V6.0.3 - Copyright (C) 2010 Real Time Engineers Ltd.

    ***************************************************************************
    *                                                                         *
    * If you are:                                                             *
    *                                                                         *
    *    + New to FreeRTOS,                                                   *
    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *
    *    + Looking for basic training,                                        *
    *    + Wanting to improve your FreeRTOS skills and productivity           *
    *                                                                         *
    * then take a look at the FreeRTOS eBook                                  *
    *                                                                         *
    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
    *                  http://www.FreeRTOS.org/Documentation                  *
    *                                                                         *
    * A pdf reference manual is also available.  Both are usually delivered   *
    * to your inbox within 20 minutes to two hours when purchased between 8am *
    * and 8pm GMT (although please allow up to 24 hours in case of            *
    * exceptional circumstances).  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 exception 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 : Tasks run in system mode and the scheduler runs in Supervisor mode.
	The processor MUST be in supervisor mode when vTaskStartScheduler is 
	called.  The demo applications included in the FreeRTOS.org download switch
	to supervisor mode prior to main being called.  If you are not using one of
	these demo application projects then ensure Supervisor mode is used.
*/


/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the demo application tasks.
 * 
 * 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 onboard LED.  Should any task contain an error at any time 
 * the LED toggle rate will change from 3 seconds to 500ms.
 *
 */

/* Standard includes. */
#include <stdlib.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Demo application includes. */
#include "partest.h"
#include "flash.h"
#include "comtest2.h"
#include "serial.h"
#include "PollQ.h"
#include "BlockQ.h"
#include "semtest.h"
#include "dynamic.h"

/*-----------------------------------------------------------*/

/* Constants to setup I/O and processor. */
#define mainTX_ENABLE		( ( unsigned portLONG ) 0x00010000 )	/* UART1. */
#define mainRX_ENABLE		( ( unsigned portLONG ) 0x00040000 ) 	/* UART1. */
#define mainBUS_CLK_FULL	( ( unsigned portCHAR ) 0x01 )
#define mainLED_TO_OUTPUT	( ( unsigned portLONG ) 0xff0000 )

/* Constants for the ComTest demo application tasks. */
#define mainCOM_TEST_BAUD_RATE	( ( unsigned portLONG ) 115200 )
#define mainCOM_TEST_LED		( 3 )

/* Priorities for the demo application tasks. */
#define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainBLOCK_Q_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 1 )
#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )

/* Constants used by the "check" task.  As described at the head of this file
the check task toggles an LED.  The rate at which the LED flashes is used to
indicate whether an error has been detected or not.  If the LED toggles every
3 seconds then no errors have been detected.  If the rate increases to 500ms
then an error has been detected in at least one of the demo application tasks. */
#define mainCHECK_LED				( 7 )
#define mainNO_ERROR_FLASH_PERIOD	( ( portTickType ) 3000 / portTICK_RATE_MS  )
#define mainERROR_FLASH_PERIOD		( ( portTickType ) 500 / portTICK_RATE_MS  )

/*-----------------------------------------------------------*/

/*
 * Checks that all the demo application tasks are still executing without error
 * - as described at the top of the file.
 */
static portLONG 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 Keil demo board.  This is very
 * minimal as most of the setup is managed by the settings in the project
 * file.
 */
static void prvSetupHardware( void );

/*-----------------------------------------------------------*/



/*
 * Application entry point:
 * Starts all the other tasks, then starts the scheduler. 
 */
int main( void )
{
	/* Setup the hardware for use with the Keil demo board. */
	prvSetupHardware();

	/* Start the demo/test application tasks. */
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartDynamicPriorityTasks();

	/* Start the check task - which is defined in this file.  This is the task
	that periodically checks to see that all the other tasks are executing 
	without error. */
	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Now all the tasks have been started - start the scheduler.

	NOTE : Tasks run in system mode and the scheduler runs in Supervisor mode.
	The processor MUST be in supervisor mode when vTaskStartScheduler is 
	called.  The demo applications included in the FreeRTOS.org download switch
	to supervisor mode prior to main being called.  If you are not using one of
	these demo application projects then ensure Supervisor mode is used here. */
	vTaskStartScheduler();

	/* Should never reach here!  If you do then there was not enough heap
	available for the idle task to be created. */
	for( ;; );
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void *pvParameters )
{
portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;

	/* Parameters are not used. */
	( 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.

	This task runs at the highest priority. */

	for( ;; )
	{
		/* The period of the delay depends on whether an error has been 
		detected or not.  If an error has been detected then the period
		is reduced to increase the LED flash rate. */
		vTaskDelay( xDelayPeriod );

		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
		{
			/* An error has been detected in one of the tasks - flash faster. */
			xDelayPeriod = mainERROR_FLASH_PERIOD;
		}

		/* Toggle the LED before going back to wait for the next cycle. */
		vParTestToggleLED( mainCHECK_LED );
	}
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	/* Perform the hardware setup required.  This is minimal as most of the
	setup is managed by the settings in the project file. */

	/* Configure the UART1 pins.  All other pins remain at their default of 0. */
	PINSEL0 |= mainTX_ENABLE;
	PINSEL0 |= mainRX_ENABLE;

	/* LED pins need to be output. */
	IODIR1 = mainLED_TO_OUTPUT;

	/* Setup the peripheral bus to be the same as the PLL output. */
	VPBDIV = mainBUS_CLK_FULL;
}
/*-----------------------------------------------------------*/

static portLONG prvCheckOtherTasksAreStillRunning( void )
{
portLONG 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( xAreComTestTasksStillRunning() != pdPASS )
	{
		lReturn = pdFAIL;
	}

	if( xArePollingQueuesStillRunning() != pdTRUE )
	{
		lReturn = pdFAIL;
	}

	if( xAreBlockingQueuesStillRunning() != pdTRUE )
	{
		lReturn = pdFAIL;
	}

	if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	{
		lReturn = pdFAIL;
	}

	if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
	{
		lReturn = pdFAIL;
	}

	return lReturn;
}
/*-----------------------------------------------------------*/