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/*

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

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

    *                                                                         *

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    *    + New to FreeRTOS,                                                   *

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    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *

    *                  http://www.FreeRTOS.org/Documentation                  *

    *                                                                         *

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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 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.

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*/

/*

 * Creates all the demo application tasks, then starts the scheduler.

 *

 * Main. c also creates a task called "Print".  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 other tasks are still operational.

 * Nearly all the tasks in the demo application maintain a unique count that is

 * incremented each time the task successfully completes its function.  Should any

 * error occur within the task the count is permanently halted.  The print task

 * checks the count of each task to ensure it has changed since the last time the

 * print task executed.  If any count is found not to have changed the print task

 * displays an appropriate message, halts, and flashes the on board LED rapidly.

 * If all the tasks are still incrementing their unique counts the print task

 * displays an "OK" message.

 *

 * The LED flash tasks do not maintain a count as they already provide visual

 * feedback of their status.

 *

 * The print task blocks on the queue into which messages that require displaying

 * are posted.  It will therefore only block for the full 5 seconds if no messages

 * are posted onto the queue.

 *

 * Main. c also provides a demonstration of how the trace visualisation utility can

 * be used, and how the scheduler can be stopped.

 *

 * On the Flashlite it is preferable not to try to write to the console during

 * real time operation.  The built in LED is toggled every cycle of the print task

 * that does not encounter any errors, so the console IO may be removed if required.

 * The build in LED will start flashing rapidly if any task reports an error.

 */

/*

Changes from V1.01:

        + Previously, if an error occurred in a task the on board LED was stopped from

          toggling.  Now if an error occurs the check task enters an infinite loop,

          toggling the LED rapidly.

Changes from V1.2.3

        + The integer and comtest tasks are now used when the cooperative scheduler

          is being used.  Previously they were only used with the preemptive

          scheduler.

Changes from V1.2.5

        + Made the communications RX task a higher priority.

Changes from V2.0.0

        + Delay periods are now specified using variables and constants of

          portTickType rather than unsigned long.

*/

#include <stdlib.h>

#include <conio.h>

#include "FreeRTOS.h"

#include "task.h"

#include "partest.h"

#include "serial.h"

/* Demo file headers. */

#include "BlockQ.h"

#include "PollQ.h"

#include "death.h"

#include "flash.h"

#include "integer.h"

#include "print.h"

#include "comtest.h"

#include "fileio.h"

#include "semtest.h"

/* Priority definitions for all the tasks in the demo application. */

#define mainLED_TASK_PRIORITY                   ( tskIDLE_PRIORITY + 1 )

#define mainCREATOR_TASK_PRIORITY               ( tskIDLE_PRIORITY + 3 )

#define mainPRINT_TASK_PRIORITY                 ( tskIDLE_PRIORITY + 5 )

#define mainQUEUE_POLL_PRIORITY                 ( tskIDLE_PRIORITY + 2 )

#define mainQUEUE_BLOCK_PRIORITY                ( tskIDLE_PRIORITY + 3 )

#define mainCOM_TEST_PRIORITY                   ( tskIDLE_PRIORITY + 3 )

#define mainSEMAPHORE_TASK_PRIORITY             ( tskIDLE_PRIORITY + 1 )

#define mainPRINT_STACK_SIZE            ( ( unsigned short ) 256 )

#define mainDEBUG_LOG_BUFFER_SIZE       ( ( unsigned short ) 20480 )

/* Constant definitions for accessing the build in LED on the Flashlite 186. */

#define mainLED_REG_DIR                         ( ( unsigned short ) 0xff78 )

#define mainLED_REG                             ( ( unsigned short ) 0xff7a )

/* If an error is detected in a task then the vErrorChecks() task will enter

an infinite loop flashing the LED at this rate. */

#define mainERROR_FLASH_RATE            ( ( portTickType ) 100 / portTICK_RATE_MS )

/* Task function for the "Print" task as described at the top of the file. */

static void vErrorChecks( void *pvParameters );

/* Function that checks the unique count of all the other tasks as described at

the top of the file. */

static void prvCheckOtherTasksAreStillRunning( void );

/* Functions to setup and use the built in LED on the Flashlite 186 board. */

static void prvToggleLED( void );

static void prvInitLED( void );

/* Key presses can be used to start/stop the trace visualisation utility or stop

the scheduler. */

static void     prvCheckForKeyPresses( void );

/* Buffer used by the trace visualisation utility. */

static char pcWriteBuffer[ mainDEBUG_LOG_BUFFER_SIZE ];

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

short main( void )

{

        /* Initialise hardware and utilities. */

        vParTestInitialise();

        vPrintInitialise();

        prvInitLED();

        /* CREATE ALL THE DEMO APPLICATION TASKS. */

        vStartComTestTasks( mainCOM_TEST_PRIORITY, serCOM2, ser38400 );

        vStartIntegerMathTasks( tskIDLE_PRIORITY );

        vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

        vStartBlockingQueueTasks( mainQUEUE_BLOCK_PRIORITY );

        vStartLEDFlashTasks( mainLED_TASK_PRIORITY );

        vStartSemaphoreTasks( mainSEMAPHORE_TASK_PRIORITY );

        /* Create the "Print" task as described at the top of the file. */

        xTaskCreate( vErrorChecks, "Print", mainPRINT_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );

        /* This task has to be created last as it keeps account of the number of tasks

        it expects to see running. */

        vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );

        /* Set the scheduler running.  This function will not return unless a task

        calls vTaskEndScheduler(). */

        vTaskStartScheduler();

        return 1;

}

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

static void vErrorChecks( void *pvParameters )

{

portTickType xExpectedWakeTime;

const portTickType xPrintRate = ( portTickType ) 5000 / portTICK_RATE_MS;

const long lMaxAllowableTimeDifference = ( long ) 0;

portTickType xWakeTime;

long lTimeDifference;

const char *pcReceivedMessage;

const char * const pcTaskBlockedTooLongMsg = "Print task blocked too long!\r\n";

        /* Stop warnings. */

    ( void ) pvParameters;

        /* Loop continuously, blocking, then checking all the other tasks are still

        running, before blocking once again.  This task blocks on the queue of messages

        that require displaying so will wake either by its time out expiring, or a

        message becoming available. */

        for( ;; )

        {

                /* Calculate the time we will unblock if no messages are received

                on the queue.  This is used to check that we have not blocked for too long. */

                xExpectedWakeTime = xTaskGetTickCount();

                xExpectedWakeTime += xPrintRate;

                /* Block waiting for either a time out or a message to be posted that

                required displaying. */

                pcReceivedMessage = pcPrintGetNextMessage( xPrintRate );

                /* Was a message received? */

                if( pcReceivedMessage == NULL )

                {

                        /* A message was not received so we timed out, did we unblock at the

                        expected time? */

                        xWakeTime = xTaskGetTickCount();

                        /* Calculate the difference between the time we unblocked and the

                        time we should have unblocked. */

                        if( xWakeTime > xExpectedWakeTime )

                        {

                                lTimeDifference = ( long ) ( xWakeTime - xExpectedWakeTime );

                        }

                        else

                        {

                                lTimeDifference = ( long ) ( xExpectedWakeTime - xWakeTime );

                        }

                        if( lTimeDifference > lMaxAllowableTimeDifference )

                        {

                                /* We blocked too long - create a message that will get

                                printed out the next time around. */

                                vPrintDisplayMessage( &pcTaskBlockedTooLongMsg );

                        }

                        /* Check the other tasks are still running, just in case. */

                        prvCheckOtherTasksAreStillRunning();

                }

                else

                {

                        /* We unblocked due to a message becoming available.  Send the message

                        for printing. */

                        vDisplayMessage( pcReceivedMessage );

                }

                /* Key presses are used to invoke the trace visualisation utility, or

                end the program. */

                prvCheckForKeyPresses();

        }

} /*lint !e715 !e818 pvParameters is not used but all task functions must take this form. */

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

static void      prvCheckForKeyPresses( void )

{

        #ifdef USE_STDIO

        short sIn;

                taskENTER_CRITICAL();

                        sIn = kbhit();

                taskEXIT_CRITICAL();

                if( sIn )

                {

                        unsigned long ulBufferLength;

                        /* Key presses can be used to start/stop the trace utility, or end the

                        program. */

                        sIn = getch();

                        switch( sIn )

                        {

                                /* Only define keys for turning on and off the trace if the trace

                                is being used. */

                                #if configUSE_TRACE_FACILITY == 1

                                        case 't' :      vTaskList( pcWriteBuffer );

                                                                vWriteMessageToDisk( pcWriteBuffer );

                                                                break;

                                        case 's' :      vTaskStartTrace( pcWriteBuffer, mainDEBUG_LOG_BUFFER_SIZE );

                                                                break;

                                        case 'e' :      ulBufferLength = ulTaskEndTrace();

                                                                vWriteBufferToDisk( pcWriteBuffer, ulBufferLength );

                                                                break;

                                #endif

                                default  :      vTaskEndScheduler();

                                                        break;

                        }

                }

        #else

                ( void ) pcWriteBuffer;

        #endif

}

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

static void prvCheckOtherTasksAreStillRunning( void )

{

short sErrorHasOccurred = pdFALSE;

        if( xAreComTestTasksStillRunning() != pdTRUE )

        {

                vDisplayMessage( "Com test count unchanged!\r\n" );

                sErrorHasOccurred = pdTRUE;

        }

        if( xAreIntegerMathsTaskStillRunning() != pdTRUE )

        {

                vDisplayMessage( "Integer maths task count unchanged!\r\n" );

                sErrorHasOccurred = pdTRUE;

        }

        if( xAreBlockingQueuesStillRunning() != pdTRUE )

        {

                vDisplayMessage( "Blocking queues count unchanged!\r\n" );

                sErrorHasOccurred = pdTRUE;

        }

        if( xArePollingQueuesStillRunning() != pdTRUE )

        {

                vDisplayMessage( "Polling queue count unchanged!\r\n" );

                sErrorHasOccurred = pdTRUE;

        }

        if( xIsCreateTaskStillRunning() != pdTRUE )

        {

                vDisplayMessage( "Incorrect number of tasks running!\r\n" );

                sErrorHasOccurred = pdTRUE;

        }

        if( xAreSemaphoreTasksStillRunning() != pdTRUE )

        {

                vDisplayMessage( "Semaphore take count unchanged!\r\n" );

                sErrorHasOccurred = pdTRUE;

        }

        if( sErrorHasOccurred == pdFALSE )

        {

                vDisplayMessage( "OK " );

                /* Toggle the LED if everything is okay so we know if an error occurs even if not

                using console IO. */

                prvToggleLED();

        }

        else

        {

                for( ;; )

                {

                        /* An error has occurred in one of the tasks.  Don't go any further and

                        flash the LED rapidly in case console IO is not being used. */

                        prvToggleLED();

                        vTaskDelay( mainERROR_FLASH_RATE );

                }

        }

}

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

static void prvInitLED( void )

{

unsigned short usPortDirection;

const unsigned short usLEDOut = 0x400;

        /* Set the LED bit to an output. */

        usPortDirection = inpw( mainLED_REG_DIR );

        usPortDirection &= ~usLEDOut;

        outpw( mainLED_REG_DIR, usPortDirection );

}

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

static void prvToggleLED( void )

{

static short sLED = pdTRUE;

unsigned short usLEDState;

const unsigned short usLEDBit = 0x400;

        /* Flip the state of the LED. */

        usLEDState = inpw( mainLED_REG );

        if( sLED )

        {

                usLEDState &= ~usLEDBit;

        }

        else

        {

                usLEDState |= usLEDBit;

        }

        outpw( mainLED_REG, usLEDState );

        sLED = !sLED;

}