/*
    FreeRTOS V7.4.1 - Copyright (C) 2013 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       *
     *    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 Real Time Engineers Ltd., 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, books, training, latest versions, 
    license and Real Time Engineers Ltd. contact details.

    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
    including FreeRTOS+Trace - an indispensable productivity tool, and our new
    fully thread aware and reentrant UDP/IP stack.

    http://www.OpenRTOS.com - 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.SafeRTOS.com - High Integrity Systems also provide a safety 
    engineered and independently SIL3 certified version for use in safety and 
    mission critical applications that require provable dependability.
*/

/*
 * 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:
 *
 * "Fast Interrupt Test" - A high frequency periodic interrupt is generated
 * using a free running timer to demonstrate the use of the
 * configKERNEL_INTERRUPT_PRIORITY configuration constant.  The interrupt
 * service routine measures the number of processor clocks that occur between
 * each interrupt - and in so doing measures the jitter in the interrupt timing.
 * The maximum measured jitter time is latched in the ulMaxJitter variable, and
 * displayed on the LCD by the 'Check' task as described below.  The
 * fast interrupt is configured and handled in the timertest.c source 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.
 *
 * "Check" task -  This only executes every five seconds but has the highest
 * priority so is guaranteed to get processor time.  Its main function is to
 * check that all the standard demo tasks are still operational.  Should any
 * unexpected behaviour within a demo task be discovered the 'check' task 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
 * along with the max jitter time to the LCD (again via the LCD task), as
 * described above.
 *
 */

/* Standard includes. */
#include <stdio.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* Library includes. */
#include "stm32f10x_it.h"

/* Demo app includes. */
#include "lcd.h"
#include "LCD_Message.h"
#include "BlockQ.h"
#include "death.h"
#include "integer.h"
#include "blocktim.h"
#include "partest.h"
#include "semtest.h"
#include "PollQ.h"
#include "flash.h"
#include "comtest2.h"

/* 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 mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )
#define mainFLASH_TASK_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainCOM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )

/* Constants related to the LCD. */
#define mainMAX_LINE						( 240 )
#define mainROW_INCREMENT					( 24 )
#define mainMAX_COLUMN						( 20 )
#define mainCOLUMN_START					( 319 )
#define mainCOLUMN_INCREMENT 				( 16 )

/* The maximum number of message that can be waiting for display at any one
time. */
#define mainLCD_QUEUE_SIZE					( 3 )

/* The check task uses the sprintf function so requires a little more stack. */
#define mainCHECK_TASK_STACK_SIZE			( configMINIMAL_STACK_SIZE + 50 )

/* Dimensions the buffer into which the jitter time is written. */
#define mainMAX_MSG_LEN						25

/* The time between cycles of the 'check' task. */
#define mainCHECK_DELAY						( ( portTickType ) 5000 / portTICK_RATE_MS )

/* The number of nano seconds between each processor clock. */
#define mainNS_PER_CLOCK ( ( unsigned portLONG ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )

/* Baud rate used by the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE		( 115200 )

/* The LED used by the comtest tasks. See the comtest.c file for more
information. */
#define mainCOM_TEST_LED			( 3 )

/*-----------------------------------------------------------*/

/*
 * Configure the clocks, GPIO and other peripherals as required by the demo.
 */
static void prvSetupHardware( void );

/*
 * Configure the LCD as required by the demo.
 */
static void prvConfigureLCD( void );

/*
 * The LCD is written two by more than one task so is controlled by a
 * 'gatekeeper' task.  This is the only task that is actually permitted to
 * access the LCD directly.  Other tasks wanting to display a message send
 * the message to the gatekeeper.
 */
static void vLCDTask( void *pvParameters );

/*
 * Retargets the C library printf function to the USART.
 */
int fputc( int ch, FILE *f );

/*
 * Checks the status of all the demo tasks then prints a message to the
 * display.  The message will be either PASS - and include in brackets the
 * maximum measured jitter time (as described at the to of the file), or a
 * message that describes which of the standard demo tasks an error has been
 * discovered in.
 *
 * Messages are not written directly to the terminal, but passed to vLCDTask
 * via a queue.
 */
static void vCheckTask( void *pvParameters );

/*
 * Configures the timers and interrupts for the fast interrupt test as
 * described at the top of this file.
 */
extern void vSetupTimerTest( void );

/*-----------------------------------------------------------*/

/* The queue used to send messages to the LCD task. */
xQueueHandle xLCDQueue;

/*-----------------------------------------------------------*/

int main( void )
{
#ifdef DEBUG
  debug();
#endif

	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. */
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vCreateBlockTimeTasks();
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
    vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
	vStartLEDFlashTasks( mainFLASH_TASK_PRIORITY );
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );

	/* Start the tasks defined within this file/specific to this demo. */
    xTaskCreate( vCheckTask, ( signed portCHAR * ) "Check", mainCHECK_TASK_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );	
	xTaskCreate( vLCDTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

	/* The suicide tasks must be created last as they need to know how many
	tasks were running prior to their creation in order to ascertain whether
	or not the correct/expected number of tasks are running at any given time. */
    vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
	
	/* Configure the timers used by the fast interrupt timer test. */
	vSetupTimerTest();
	
	/* Start the scheduler. */
	vTaskStartScheduler();
	
	/* Will only get here if there was not enough heap space to create the
	idle task. */
	return 0;
}
/*-----------------------------------------------------------*/

void vLCDTask( void *pvParameters )
{
xLCDMessage xMessage;

	/* Initialise the LCD and display a startup message. */
	prvConfigureLCD();
	LCD_DrawMonoPict( ( unsigned portLONG * ) pcBitmap );

	for( ;; )
	{
		/* Wait for a message to arrive that requires displaying. */
		while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );

		/* Display the message.  Print each message to a different position. */
		printf( ( portCHAR const * ) xMessage.pcMessage );
	}
}
/*-----------------------------------------------------------*/

static void vCheckTask( void *pvParameters )
{
portTickType xLastExecutionTime;
xLCDMessage xMessage;
static signed portCHAR cPassMessage[ mainMAX_MSG_LEN ];
extern unsigned portSHORT usMaxJitter;

	xLastExecutionTime = xTaskGetTickCount();
	xMessage.pcMessage = cPassMessage;
	
    for( ;; )
	{
		/* Perform this check every mainCHECK_DELAY milliseconds. */
		vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );

		/* Has an error been found in any task? */

        if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN BLOCK Q\n";
		}
		else if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN BLOCK TIME\n";
		}
        else if( xAreSemaphoreTasksStillRunning() != pdTRUE )
        {
            xMessage.pcMessage = "ERROR IN SEMAPHORE\n";
        }
        else if( xArePollingQueuesStillRunning() != pdTRUE )
        {
            xMessage.pcMessage = "ERROR IN POLL Q\n";
        }
        else if( xIsCreateTaskStillRunning() != pdTRUE )
        {
            xMessage.pcMessage = "ERROR IN CREATE\n";
        }
        else if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
        {
            xMessage.pcMessage = "ERROR IN MATH\n";
        }
		else if( xAreComTestTasksStillRunning() != pdTRUE )
		{
			xMessage.pcMessage = "ERROR IN COM TEST\n";
		}				
		else
		{
			sprintf( ( portCHAR * ) cPassMessage, "PASS [%uns]\n", ( ( unsigned portLONG ) usMaxJitter ) * mainNS_PER_CLOCK );
		}

		/* Send the message to the LCD gatekeeper for display. */
		xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
	}
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	/* Start with the clocks in their expected state. */
	RCC_DeInit();

	/* Enable HSE (high speed external clock). */
	RCC_HSEConfig( RCC_HSE_ON );

	/* Wait till HSE is ready. */
	while( RCC_GetFlagStatus( RCC_FLAG_HSERDY ) == RESET )
	{
	}

	/* 2 wait states required on the flash. */
	*( ( unsigned portLONG * ) 0x40022000 ) = 0x02;

	/* HCLK = SYSCLK */
	RCC_HCLKConfig( RCC_SYSCLK_Div1 );

	/* PCLK2 = HCLK */
	RCC_PCLK2Config( RCC_HCLK_Div1 );

	/* PCLK1 = HCLK/2 */
	RCC_PCLK1Config( RCC_HCLK_Div2 );

	/* PLLCLK = 8MHz * 9 = 72 MHz. */
	RCC_PLLConfig( RCC_PLLSource_HSE_Div1, RCC_PLLMul_9 );

	/* Enable PLL. */
	RCC_PLLCmd( ENABLE );

	/* Wait till PLL is ready. */
	while(RCC_GetFlagStatus(RCC_FLAG_PLLRDY) == RESET)
	{
	}

	/* Select PLL as system clock source. */
	RCC_SYSCLKConfig( RCC_SYSCLKSource_PLLCLK );

	/* Wait till PLL is used as system clock source. */
	while( RCC_GetSYSCLKSource() != 0x08 )
	{
	}

	/* Enable GPIOA, GPIOB, GPIOC, GPIOD, GPIOE and AFIO clocks */
	RCC_APB2PeriphClockCmd(	RCC_APB2Periph_GPIOA | RCC_APB2Periph_GPIOB |RCC_APB2Periph_GPIOC
							| RCC_APB2Periph_GPIOD | RCC_APB2Periph_GPIOE | RCC_APB2Periph_AFIO, ENABLE );

	/* SPI2 Periph clock enable */
	RCC_APB1PeriphClockCmd( RCC_APB1Periph_SPI2, ENABLE );


	/* Set the Vector Table base address at 0x08000000 */
	NVIC_SetVectorTable( NVIC_VectTab_FLASH, 0x0 );

	NVIC_PriorityGroupConfig( NVIC_PriorityGroup_4 );
	
	/* Configure HCLK clock as SysTick clock source. */
	SysTick_CLKSourceConfig( SysTick_CLKSource_HCLK );
	
	vParTestInitialise();
}
/*-----------------------------------------------------------*/

static void prvConfigureLCD( void )
{
GPIO_InitTypeDef GPIO_InitStructure;

	/* Configure LCD Back Light (PA8) as output push-pull */
	GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
	GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
	GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
	GPIO_Init( GPIOA, &GPIO_InitStructure );

	/* Set the Backlight Pin */
	GPIO_WriteBit(GPIOA, GPIO_Pin_8, Bit_SET);

	/* Initialize the LCD */
	LCD_Init();

	/* Set the Back Color */
	LCD_SetBackColor( White );

	/* Set the Text Color */
	LCD_SetTextColor( 0x051F );

	LCD_Clear();
}
/*-----------------------------------------------------------*/

int fputc( int ch, FILE *f )
{
static unsigned portSHORT usColumn = 0, usRefColumn = mainCOLUMN_START;
static unsigned portCHAR ucLine = 0;

	if( ( usColumn == 0 ) && ( ucLine == 0 ) )
	{
		LCD_Clear();
	}

	if( ch != '\n' )
	{
		/* Display one character on LCD */
		LCD_DisplayChar( ucLine, usRefColumn, (u8) ch );
		
		/* Decrement the column position by 16 */
		usRefColumn -= mainCOLUMN_INCREMENT;
		
		/* Increment the character counter */
		usColumn++;
		if( usColumn == mainMAX_COLUMN )
		{
			ucLine += mainROW_INCREMENT;
			usRefColumn = mainCOLUMN_START;
			usColumn = 0;
		}
	}
	else
	{
		/* Move back to the first column of the next line. */
		ucLine += mainROW_INCREMENT;
		usRefColumn = mainCOLUMN_START;
		usColumn = 0;	
	}

	/* Wrap back to the top of the display. */
	if( ucLine >= mainMAX_LINE )
	{
		ucLine = 0;
	}
	
	return ch;
}
/*-----------------------------------------------------------*/

#ifdef  DEBUG
/* Keep the linker happy. */
void assert_failed( unsigned portCHAR* pcFile, unsigned portLONG ulLine )
{
	for( ;; )
	{
	}
}
#endif