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/*

    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.

    ***************************************************************************

    *                                                                         *

    * If you are:                                                             *

    *                                                                         *

    *    + New to FreeRTOS,                                                   *

    *    + Wanting to learn FreeRTOS or multitasking in general quickly       *

    *    + Looking for basic training,                                        *

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    *                                                                         *

    * then take a look at the FreeRTOS books - available as PDF or paperback  *

    *                                                                         *

    *        "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.

 *

 * To check the operation of the memory allocator the check task also

 * dynamically creates a task before delaying, and deletes it again when it

 * wakes.  If memory cannot be allocated for the new task the call to xTaskCreate

 * will fail and an error is signalled.  The dynamically created task itself

 * allocates and frees memory just to give the allocator a bit more exercise.

 *

 */

/*

        Changes from V2.4.2

        + The vErrorChecks() task now dynamically creates then deletes a task each

          cycle.  This tests the operation of the memory allocator.

        Changes from V2.5.2

        + vParTestInitialise() is called during initialisation to ensure all the

          LED's start off.

*/

/* Standard includes. */

#include <stdlib.h>

#include <string.h>

/* Scheduler includes. */

#include "FreeRTOS.h"

#include "task.h"

/* Demo application includes. */

#include "partest.h"

#include "flash.h"

#include "integer.h"

#include "PollQ.h"

#include "comtest2.h"

#include "semtest.h"

#include "flop.h"

#include "dynamic.h"

#include "BlockQ.h"

#include "serial.h"

/*-----------------------------------------------------------*/

/* Constants to setup I/O. */

#define mainTX_ENABLE   ( ( unsigned long ) 0x0001 )

#define mainRX_ENABLE   ( ( unsigned long ) 0x0004 )

#define mainP0_14               ( ( unsigned long ) 0x4000 )

#define mainJTAG_PORT   ( ( unsigned long ) 0x3E0000UL )

/* Constants to setup the PLL. */

#define mainPLL_MUL_4           ( ( unsigned char ) 0x0003 )

#define mainPLL_DIV_1           ( ( unsigned char ) 0x0000 )

#define mainPLL_ENABLE          ( ( unsigned char ) 0x0001 )

#define mainPLL_CONNECT         ( ( unsigned char ) 0x0003 )

#define mainPLL_FEED_BYTE1      ( ( unsigned char ) 0xaa )

#define mainPLL_FEED_BYTE2      ( ( unsigned char ) 0x55 )

#define mainPLL_LOCK            ( ( unsigned long ) 0x0400 )

/* Constants to setup the MAM. */

#define mainMAM_TIM_3           ( ( unsigned char ) 0x03 )

#define mainMAM_MODE_FULL       ( ( unsigned char ) 0x02 )

/* Constants to setup the peripheral bus. */

#define mainBUS_CLK_FULL        ( ( unsigned char ) 0x01 )

/* Constants for the ComTest tasks. */

#define mainCOM_TEST_BAUD_RATE  ( ( unsigned long ) 115200 )

#define mainCOM_TEST_LED                ( 3 )

/* Priorities for the demo application tasks. */

#define mainLED_TASK_PRIORITY           ( tskIDLE_PRIORITY + 3 )

#define mainCOM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 2 )

#define mainQUEUE_POLL_PRIORITY         ( tskIDLE_PRIORITY + 0 )

#define mainCHECK_TASK_PRIORITY         ( tskIDLE_PRIORITY + 4 )

#define mainSEM_TEST_PRIORITY           ( tskIDLE_PRIORITY + 0 )

#define mainBLOCK_Q_PRIORITY            ( tskIDLE_PRIORITY + 2 )

/* The rate at which the on board LED will toggle when there is/is not an

error. */

#define mainNO_ERROR_FLASH_PERIOD       ( ( portTickType ) 3000 / portTICK_RATE_MS  )

#define mainERROR_FLASH_PERIOD          ( ( portTickType ) 500 / portTICK_RATE_MS  )

#define mainON_BOARD_LED_BIT            ( ( unsigned long ) 0x80 )

/* Constants used by the vMemCheckTask() task. */

#define mainCOUNT_INITIAL_VALUE         ( ( unsigned long ) 0 )

#define mainNO_TASK                                     ( 0 )

/* The size of the memory blocks allocated by the vMemCheckTask() task. */

#define mainMEM_CHECK_SIZE_1            ( ( size_t ) 51 )

#define mainMEM_CHECK_SIZE_2            ( ( size_t ) 52 )

#define mainMEM_CHECK_SIZE_3            ( ( size_t ) 151 )

/*-----------------------------------------------------------*/

/*

 * The Olimex demo board has a single built in LED.  This function simply

 * toggles its state.

 */

void prvToggleOnBoardLED( void );

/*

 * Checks that all the demo application tasks are still executing without error

 * - as described at the top of the file.

 */

static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount );

/*

 * 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 );

/*

 * Dynamically created and deleted during each cycle of the vErrorChecks()

 * task.  This is done to check the operation of the memory allocator.

 * See the top of vErrorChecks for more details.

 */

static void vMemCheckTask( void *pvParameters );

/*

 * Configure the processor for use with the Olimex demo board.  This includes

 * setup for the I/O, system clock, and access timings.

 */

static void prvSetupHardware( void );

/*-----------------------------------------------------------*/

/*

 * Starts all the other tasks, then starts the scheduler.

 */

int main( void )

{

        /* Setup the hardware for use with the Olimex demo board. */

        prvSetupHardware();

        /* Start the demo/test application tasks. */

        vStartIntegerMathTasks( tskIDLE_PRIORITY );

        vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );

        vStartLEDFlashTasks( mainLED_TASK_PRIORITY );

        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

        vStartMathTasks( tskIDLE_PRIORITY );

        vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

        vStartDynamicPriorityTasks();

        vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

        /* Start the check task - which is defined in this file. */

        xTaskCreate( vErrorChecks, ( signed char * ) "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! */

        return 0;

}

/*-----------------------------------------------------------*/

static void vErrorChecks( void *pvParameters )

{

portTickType xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;

unsigned long ulMemCheckTaskRunningCount;

xTaskHandle xCreatedTask;

        /* The parameters are not used in this function. */

        ( 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.

        In addition to the standard tests the memory allocator is tested through

        the dynamic creation and deletion of a task each cycle.  Each time the

        task is created memory must be allocated for its stack.  When the task is

        deleted this memory is returned to the heap.  If the task cannot be created

        then it is likely that the memory allocation failed. */

        for( ;; )

        {

                /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a

                parameter. */

                ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;

                xCreatedTask = mainNO_TASK;

                if( xTaskCreate( vMemCheckTask, ( signed char * ) "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )

                {

                        /* Could not create the task - we have probably run out of heap. */

                        xDelayPeriod = mainERROR_FLASH_PERIOD;

                }

                /* Delay until it is time to execute again. */

                vTaskDelay( xDelayPeriod );

                /* Delete the dynamically created task. */

                if( xCreatedTask != mainNO_TASK )

                {

                        vTaskDelete( xCreatedTask );

                }

                /* Check all the standard demo application tasks are executing without

                error.  ulMemCheckTaskRunningCount is checked to ensure it was

                modified by the task just deleted. */

                if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )

                {

                        /* An error has been detected in one of the tasks - flash faster. */

                        xDelayPeriod = mainERROR_FLASH_PERIOD;

                }

                prvToggleOnBoardLED();

        }

}

/*-----------------------------------------------------------*/

static void prvSetupHardware( void )

{

        #ifdef RUN_FROM_RAM

                /* Remap the interrupt vectors to RAM if we are are running from RAM. */

                SCB_MEMMAP = 2;

        #endif

        /* Configure the RS2332 pins.  All other pins remain at their default of 0. */

        PCB_PINSEL0 |= mainTX_ENABLE;

        PCB_PINSEL0 |= mainRX_ENABLE;

        /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.

        The JTAG pins are left as input as I'm not sure what will happen if the

        Wiggler is connected after powerup - not that it would be a good idea to

        do that anyway. */

        GPIO_IODIR = ~( mainP0_14 + mainJTAG_PORT );

        /* Setup the PLL to multiply the XTAL input by 4. */

        SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );

        /* Activate the PLL by turning it on then feeding the correct sequence of

        bytes. */

        SCB_PLLCON = mainPLL_ENABLE;

        SCB_PLLFEED = mainPLL_FEED_BYTE1;

        SCB_PLLFEED = mainPLL_FEED_BYTE2;

        /* Wait for the PLL to lock... */

        while( !( SCB_PLLSTAT & mainPLL_LOCK ) );

        /* ...before connecting it using the feed sequence again. */

        SCB_PLLCON = mainPLL_CONNECT;

        SCB_PLLFEED = mainPLL_FEED_BYTE1;

        SCB_PLLFEED = mainPLL_FEED_BYTE2;

        /* Setup and turn on the MAM.  Three cycle access is used due to the fast

        PLL used.  It is possible faster overall performance could be obtained by

        tuning the MAM and PLL settings. */

        MAM_TIM = mainMAM_TIM_3;

        MAM_CR = mainMAM_MODE_FULL;

        /* Setup the peripheral bus to be the same as the PLL output. */

        SCB_VPBDIV = mainBUS_CLK_FULL;

        /* Initialise LED outputs. */

        vParTestInitialise();

}

/*-----------------------------------------------------------*/

void prvToggleOnBoardLED( void )

{

unsigned long ulState;

        ulState = GPIO0_IOPIN;

        if( ulState & mainON_BOARD_LED_BIT )

        {

                GPIO_IOCLR = mainON_BOARD_LED_BIT;

        }

        else

        {

                GPIO_IOSET = mainON_BOARD_LED_BIT;

        }

}

/*-----------------------------------------------------------*/

static long prvCheckOtherTasksAreStillRunning( unsigned long ulMemCheckTaskCount )

{

long lReturn = ( long ) 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( xAreIntegerMathsTaskStillRunning() != pdTRUE )

        {

                lReturn = ( long ) pdFAIL;

        }

        if( xAreComTestTasksStillRunning() != pdTRUE )

        {

                lReturn = ( long ) pdFAIL;

        }

        if( xArePollingQueuesStillRunning() != pdTRUE )

        {

                lReturn = ( long ) pdFAIL;

        }

        if( xAreMathsTaskStillRunning() != pdTRUE )

        {

                lReturn = ( long ) pdFAIL;

        }

        if( xAreSemaphoreTasksStillRunning() != pdTRUE )

        {

                lReturn = ( long ) pdFAIL;

        }

        if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )

        {

                lReturn = ( long ) pdFAIL;

        }

        if( xAreBlockingQueuesStillRunning() != pdTRUE )

        {

                lReturn = ( long ) pdFAIL;

        }

        if( ulMemCheckTaskCount == mainCOUNT_INITIAL_VALUE )

        {

                /* The vMemCheckTask did not increment the counter - it must

                have failed. */

                lReturn = ( long ) pdFAIL;

        }

        return lReturn;

}

/*-----------------------------------------------------------*/

static void vMemCheckTask( void *pvParameters )

{

unsigned long *pulMemCheckTaskRunningCounter;

void *pvMem1, *pvMem2, *pvMem3;

static long lErrorOccurred = pdFALSE;

        /* This task is dynamically created then deleted during each cycle of the

        vErrorChecks task to check the operation of the memory allocator.  Each time

        the task is created memory is allocated for the stack and TCB.  Each time

        the task is deleted this memory is returned to the heap.  This task itself

        exercises the allocator by allocating and freeing blocks.

        The task executes at the idle priority so does not require a delay.

        pulMemCheckTaskRunningCounter is incremented each cycle to indicate to the

        vErrorChecks() task that this task is still executing without error. */

        pulMemCheckTaskRunningCounter = ( unsigned long * ) pvParameters;

        for( ;; )

        {

                if( lErrorOccurred == pdFALSE )

                {

                        /* We have never seen an error so increment the counter. */

                        ( *pulMemCheckTaskRunningCounter )++;

                }

                /* Allocate some memory - just to give the allocator some extra

                exercise.  This has to be in a critical section to ensure the

                task does not get deleted while it has memory allocated. */

                vTaskSuspendAll();

                {

                        pvMem1 = pvPortMalloc( mainMEM_CHECK_SIZE_1 );

                        if( pvMem1 == NULL )

                        {

                                lErrorOccurred = pdTRUE;

                        }

                        else

                        {

                                memset( pvMem1, 0xaa, mainMEM_CHECK_SIZE_1 );

                                vPortFree( pvMem1 );

                        }

                }

                xTaskResumeAll();

                /* Again - with a different size block. */

                vTaskSuspendAll();

                {

                        pvMem2 = pvPortMalloc( mainMEM_CHECK_SIZE_2 );

                        if( pvMem2 == NULL )

                        {

                                lErrorOccurred = pdTRUE;

                        }

                        else

                        {

                                memset( pvMem2, 0xaa, mainMEM_CHECK_SIZE_2 );

                                vPortFree( pvMem2 );

                        }

                }

                xTaskResumeAll();

                /* Again - with a different size block. */

                vTaskSuspendAll();

                {

                        pvMem3 = pvPortMalloc( mainMEM_CHECK_SIZE_3 );

                        if( pvMem3 == NULL )

                        {

                                lErrorOccurred = pdTRUE;

                        }

                        else

                        {

                                memset( pvMem3, 0xaa, mainMEM_CHECK_SIZE_3 );

                                vPortFree( pvMem3 );

                        }

                }

                xTaskResumeAll();

        }

}