/*
    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 usMaxJitter 
 * variable, and displayed on the LCD by the 'Check' as described below.  
 * The fast interrupt is configured and handled in the timer_test.c source 
 * file.
 *
 * "LCD" task - the LCD task is a 'gatekeeper' task.  It is the only task that
 * is permitted to access the LCD 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 LCD
 * task is defined in lcd.c.  
 * 
 * "Check" task -  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 standard demo tasks are still operational.  Should any
 * unexpected behaviour within a demo task be discovered the 'check' task will
 * write "FAIL #n" to the LCD (via the LCD task).  If all the demo tasks are 
 * executing with their expected behaviour then the check task writes 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"
#include "croutine.h"

/* Demo application includes. */
#include "BlockQ.h"
#include "crflash.h"
#include "blocktim.h"
#include "integer.h"
#include "comtest2.h"
#include "partest.h"
#include "lcd.h"
#include "timertest.h"

/* Demo task priorities. */
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 3 )
#define mainCOM_TEST_PRIORITY				( 2 )

/* The check task may require a bit more stack as it calls sprintf(). */
#define mainCHECK_TAKS_STACK_SIZE			( configMINIMAL_STACK_SIZE * 2 )

/* The execution period of the check task. */
#define mainCHECK_TASK_PERIOD				( ( portTickType ) 3000 / portTICK_RATE_MS )

/* The number of flash co-routines to create. */
#define mainNUM_FLASH_COROUTINES			( 5 )

/* Baud rate used by the comtest tasks. */
#define mainCOM_TEST_BAUD_RATE				( 19200 )

/* The LED used by the comtest tasks.  mainCOM_TEST_LED + 1 is also used.
See the comtest.c file for more information. */
#define mainCOM_TEST_LED					( 6 )

/* The frequency at which the "fast interrupt test" interrupt will occur. */
#define mainTEST_INTERRUPT_FREQUENCY		( 20000 )

/* The number of processor clocks we expect to occur between each "fast
interrupt test" interrupt. */
#define mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ( configCPU_CLOCK_HZ / mainTEST_INTERRUPT_FREQUENCY )

/* The number of nano seconds between each processor clock. */
#define mainNS_PER_CLOCK ( ( unsigned short ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )

/* Dimension the buffer used to hold the value of the maximum jitter time when
it is converted to a string. */
#define mainMAX_STRING_LENGTH				( 20 )

/*-----------------------------------------------------------*/

/*
 * The check task as described at the top of this file.
 */
static void vCheckTask( void *pvParameters );

/*
 * Setup the processor ready for the demo.
 */
static void prvSetupHardware( void );

/*-----------------------------------------------------------*/

/* The queue used to send messages to the LCD task. */
static xQueueHandle xLCDQueue;

/*-----------------------------------------------------------*/

/*
 * Create the demo tasks then start the scheduler.
 */
int main( void )
{
	/* Configure any hardware required for this demo. */
	prvSetupHardware();

	/* Create the standard demo tasks. */
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );	
	vStartIntegerMathTasks( tskIDLE_PRIORITY );
	vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
	vCreateBlockTimeTasks();

	/* Create the test tasks defined within this file. */
	xTaskCreate( vCheckTask, ( signed char * ) "Check", mainCHECK_TAKS_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Start the task that will control the LCD.  This returns the handle
	to the queue used to write text out to the task. */
	xLCDQueue = xStartLCDTask();

	/* Start the high frequency interrupt test. */
	vSetupTimerTest( mainTEST_INTERRUPT_FREQUENCY );

	/* Finally start the scheduler. */
	vTaskStartScheduler();

	/* Will only reach here if there is insufficient heap available to start
	the scheduler. */
	return 0;
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	vParTestInitialise();
}
/*-----------------------------------------------------------*/

static void vCheckTask( void *pvParameters )
{
/* Used to wake the task at the correct frequency. */
portTickType xLastExecutionTime; 

/* The maximum jitter time measured by the fast interrupt test. */
extern unsigned short usMaxJitter ;

/* Buffer into which the maximum jitter time is written as a string. */
static char cStringBuffer[ mainMAX_STRING_LENGTH ];

/* The message that is sent on the queue to the LCD task.  The first
parameter is the minimum time (in ticks) that the message should be
left on the LCD without being overwritten.  The second parameter is a pointer
to the message to display itself. */
xLCDMessage xMessage = { 0, cStringBuffer };

/* Set to pdTRUE should an error be detected in any of the standard demo tasks. */
unsigned short usErrorDetected = pdFALSE;

	/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
	works correctly. */
	xLastExecutionTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Wait until it is time for the next cycle. */
		vTaskDelayUntil( &xLastExecutionTime, mainCHECK_TASK_PERIOD );

		/* Has an error been found in any of the standard demo tasks? */

		if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
		{
			usErrorDetected = pdTRUE;
			sprintf( cStringBuffer, "FAIL #1" );
		}
	
		if( xAreComTestTasksStillRunning() != pdTRUE )
		{
			usErrorDetected = pdTRUE;
			sprintf( cStringBuffer, "FAIL #2" );
		}

		if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
		{
			usErrorDetected = pdTRUE;
			sprintf( cStringBuffer, "FAIL #3" );
		}

		if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			usErrorDetected = pdTRUE;
			sprintf( cStringBuffer, "FAIL #4" );
		}

		if( usErrorDetected == pdFALSE )
		{
			/* No errors have been discovered, so display the maximum jitter
			timer discovered by the "fast interrupt test". */
			sprintf( cStringBuffer, "%dns max jitter", ( short ) ( usMaxJitter - mainEXPECTED_CLOCKS_BETWEEN_INTERRUPTS ) * mainNS_PER_CLOCK );
		}

		/* Send the message to the LCD gatekeeper for display. */
		xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );
	}
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
	/* Schedule the co-routines from within the idle task hook. */
	vCoRoutineSchedule();
}
/*-----------------------------------------------------------*/