/*
    FreeRTOS V7.3.0 - Copyright (C) 2012 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        *
     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
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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!      *
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    ***************************************************************************


    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
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    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?"                                     *
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    ***************************************************************************

    
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    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 
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    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.
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "uIP" task -  This is the task that handles the uIP stack.  All TCP/IP
 * processing is performed in this task.  It manages the WEB server functionality.
 *
 * "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.  An error found in any task will be
 * latched in the ulErrorCode variable for display through the WEB server (the
 * error code is displayed at the foot of the table that contains information on
 * the state of each task).
 *
 * "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 "blocktim.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "PollQ.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "IntQueue.h"
#include "comtest2.h"

/*-----------------------------------------------------------*/

/* The time between cycles of the 'check' functionality - as described at the
top of this file. */
#define mainCHECK_TASK_PERIOD					( ( portTickType ) 5000 / portTICK_RATE_MS )

/* 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 mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )

/* The WEB server task uses more stack than most other tasks because of its
reliance on using sprintf(). */
#define mainBASIC_WEB_STACK_SIZE			( configMINIMAL_STACK_SIZE * 2 )

/*
 * Configure the hardware for the demo.
 */
static void prvSetupHardware( void );

/*
 * Implements the 'check' task functionality as described at the top of this
 * file.
 */
static void prvCheckTask( void *pvParameters );

/*
 * The task that implements the WEB server.
 */
extern void vuIP_Task( void *pvParameters );

/*
 * Implement the 'Reg test' functionality as described at the top of this file.
 */
static void vRegTest1Task( void *pvParameters );
static void vRegTest2Task( void *pvParameters );

/*-----------------------------------------------------------*/

/* Counters used to detect errors within the reg test tasks. */
static volatile unsigned portLONG ulRegTest1Counter = 0x11111111, ulRegTest2Counter = 0x22222222;

/* Any errors that the check task finds in any tasks are latched into 
ulErrorCode, and then displayed via the WEB server. */
static unsigned portLONG ulErrorCode = 0UL;

/*-----------------------------------------------------------*/

int main( void )
{
	/* Setup the hardware ready for this demo. */
	prvSetupHardware();

	/* Create the WEB server task. */
	xTaskCreate( vuIP_Task, ( signed portCHAR * ) "uIP", mainBASIC_WEB_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY - 1, NULL );

	/* Start the standard demo tasks. */
	vStartLEDFlashTasks( tskIDLE_PRIORITY );
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vCreateBlockTimeTasks();
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartQueuePeekTasks();
    vStartRecursiveMutexTasks();

	/* Start the reg test tasks - defined in this file. */
	xTaskCreate( vRegTest1Task, ( signed portCHAR * ) "Reg1", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest1Counter, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vRegTest2Task, ( signed portCHAR * ) "Reg2", configMINIMAL_STACK_SIZE, ( void * ) &ulRegTest2Counter, tskIDLE_PRIORITY, NULL );

	/* Create the check task. */
	xTaskCreate( prvCheckTask, ( signed portCHAR * ) "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Start the scheduler. */
	vTaskStartScheduler();

    /* Will only get here if there was insufficient heap to create the idle
    task. */
	for( ;; );
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void *pvParameters )
{
unsigned ulLastRegTest1Count = 0, ulLastRegTest2Count = 0;
portTickType xLastExecutionTime;

	/* To prevent compiler warnings. */
	( void ) pvParameters;

	/* Initialise the variable used to control our iteration rate prior to
	its first use. */
	xLastExecutionTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Wait until it is time to run the tests again. */
		vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );

		/* Has an error been found in any task? */
		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x01UL;
		}

		if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x02UL;
		}

		if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x04UL;
		}

		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	    {
	    	ulErrorCode |= 0x20UL;
	    }

		if( xArePollingQueuesStillRunning() != pdTRUE )
	    {
	    	ulErrorCode |= 0x40UL;
	    }

		if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			ulErrorCode |= 0x80UL;
		}

	    if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	    {
	    	ulErrorCode |= 0x100UL;
	    }

		if( ulLastRegTest1Count == ulRegTest1Counter )
		{
			ulErrorCode |= 0x200UL;
		}

		if( ulLastRegTest2Count == ulRegTest2Counter )
		{
			ulErrorCode |= 0x200UL;
		}

		/* Remember the reg test counts so a stall in their values can be
		detected next time around. */
		ulLastRegTest1Count = ulRegTest1Counter;
		ulLastRegTest2Count = ulRegTest2Counter;
	}
}
/*-----------------------------------------------------------*/

unsigned portLONG ulGetErrorCode( void )
{
	/* Returns the error code for display via the WEB server. */
	return ulErrorCode;
}
/*-----------------------------------------------------------*/

void prvSetupHardware( void )
{
__attribute__ ((section(".cfmconfig")))
static const unsigned long _cfm[6] = {
	0, /* KEY_UPPER 0x00000400 */
	0, /* KEY_LOWER 0x00000404 */
	0, /* CFMPROT 0x00000408 */
	0, /* CFMSACC 0x0000040C */
	0, /* CFMDACC 0x00000410 */
	0, /* CFMSEC 0x00000414 */
};

	/* Just to stop compiler warnings. */
	( void ) _cfm;

	/* Ensure the watchdog is disabled. */
	MCF_SCM_CWCR = 0;

    /* Initialize IPSBAR (0x40000000). */
	asm volatile(
		"move.l  #0x40000000,%d0	\n"
		"andi.l  #0xC0000000,%d0	\n"
		"add.l   #0x1,%d0			\n"
		"move.l  %d0,0x40000000		"
	);

    /* Initialize FLASHBAR (0x00) */
	asm volatile(
		"move.l  #0x00,%d0			\n"
		"andi.l  #0xFFF80000,%d0	\n"
		"add.l   #0x41,%d0			\n"
		"movec   %d0,%FLASHBAR		"
	);

	portDISABLE_INTERRUPTS();

	/* RAMBAR. */
	MCF_SCM_RAMBAR = MCF_SCM_RAMBAR_BA( RAMBAR_ADDRESS ) | MCF_SCM_RAMBAR_BDE;

	/* Multiply 25MHz crystal by 12 to get 60MHz clock. */
	MCF_CLOCK_SYNCR = MCF_CLOCK_SYNCR_MFD(4) | MCF_CLOCK_SYNCR_CLKSRC| MCF_CLOCK_SYNCR_PLLMODE | MCF_CLOCK_SYNCR_PLLEN ;
	while (!(MCF_CLOCK_SYNSR & MCF_CLOCK_SYNSR_LOCK))
	{
	}

	/* Setup the port used to toggle LEDs. */
	vParTestInitialise();
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed portCHAR *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 )
{
	/* Sanity check - did we receive the parameter expected? */
	if( pvParameters != &ulRegTest1Counter )
	{
		/* Change here so the check task can detect that an error occurred. */
		for( ;; );
	}

	/* 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		#14, %a5				\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		%a5, %d0				\n\t"
						"	cmpi.l		#14, %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"
						"	movel		ulRegTest1Counter, %d0	\n\t"
						"	addql		#1, %d0					\n\t"
						"	movel		%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 )
{
	/* Sanity check - did we receive the parameter expected? */
	if( pvParameters != &ulRegTest2Counter )
	{
		/* Change here so the check task can detect that an error occurred. */
		for( ;; );
	}

	/* 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		#140, %a5				\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		%a5, %d0				\n\t"
						"	cmpi.l		#140, %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"
						"	movel		ulRegTest1Counter, %d0	\n\t"
						"	addql		#1, %d0					\n\t"
						"	movel		%d0, ulRegTest2Counter	\n\t"
						"	bra			reg_test_2_start		\n\t"
						"reg_test_2_error:						\n\t"
						"	bra			reg_test_2_error		\n\t"
					);
}
/*-----------------------------------------------------------*/