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/*

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

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

    *                                                                         *

    * If you are:                                                             *

    *                                                                         *

    *    + New to FreeRTOS,                                                   *

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

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    *                                                                         *

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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

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    by writing to Richard Barry, contact details for whom are available on the

    FreeRTOS WEB site.

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*/

/*

 * The documentation page for this demo available on http://www.FreeRTOS.org

 * documents the hardware configuration required to run this demo.  It also

 * provides more information on the expected demo application behaviour.

 *

 * main() creates all the demo application tasks, then starts the scheduler.

 * A lot of the created tasks are from the pool of "standard demo" tasks.  The

 * web documentation provides more details of the standard demo tasks, which

 * provide no particular functionality but do provide good examples of how to

 * use the FreeRTOS API.

 *

 * In addition to the standard demo tasks, the following tasks, interrupts and

 * tests are defined and/or created within this file:

 *

 * "LCD" task - The LCD task is a 'gatekeeper' task.  It is the only task that

 * is permitted to access the LCD and therefore ensures access to the LCD is

 * always serialised and there are no mutual exclusion issues.  When a task or

 * an interrupt wants to write to the LCD, it does not access the LCD directly

 * but instead sends the message to the LCD task.  The LCD task then performs

 * the actual LCD output.  This mechanism also allows interrupts to, in effect,

 * write to the LCD by sending messages to the LCD task.

 *

 * The LCD task is also a demonstration of a 'controller' task design pattern.

 * Some tasks do not actually send a string to the LCD task directly, but

 * instead send a command that is interpreted by the LCD task.  In a normal

 * application these commands can be control values or set points, in this

 * simple example the commands just result in messages being displayed on the

 * LCD.

 *

 * "Button Poll" task - This task polls the state of the 'up' key on the

 * joystick input device.  It uses the vTaskDelay() API function to control

 * the poll rate to ensure debouncing is not necessary and that the task does

 * not use all the available CPU processing time.

 *

 * Button Interrupt and run time stats display - The select button on the

 * joystick input device is configured to generate an external interrupt.  The

 * handler for this interrupt sends a message to LCD task, which interprets the

 * message to mean, firstly write a message to the LCD, and secondly, generate

 * a table of run time statistics.  The run time statistics are displayed as a

 * table that contains information on how much processing time each task has

 * been allocated since the application started to execute.  This information

 * is provided both as an absolute time, and as a percentage of the total run

 * time.  The information is displayed in the terminal IO window of the IAR

 * embedded workbench.  The online documentation for this demo shows a screen

 * shot demonstrating where the run time stats can be viewed.

 *

 * Idle Hook - The idle hook is a function that is called on each iteration of

 * the idle task.  In this case it is used to place the processor into a low

 * power mode.  Note however that this application is implemented using standard

 * components, and is therefore not optimised for low power operation.  Lower

 * power consumption would be achieved by converting polling tasks into event

 * driven tasks, and slowing the tick interrupt frequency.

 *

 * "Check" function called from the tick hook - The tick hook is called during

 * each tick interrupt.  It is called from an interrupt context so must execute

 * quickly, not attempt to block, and not call any FreeRTOS API functions that

 * do not end in "FromISR".  In this case the tick hook executes a 'check'

 * function.  This only executes every five seconds.  Its main function is to

 * check that all the standard demo tasks are still operational.  Each time it

 * executes it sends a status code to the LCD task.  The LCD task interprets the

 * code and displays an appropriate message - which will be PASS if no tasks

 * have reported any errors, or a message stating which task has reported an

 * error.

 *

 * "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 check variable is incremented on each iteration of the

 * test loop.  A register containing an unexpected value is indicative of an

 * error in the context switching mechanism and will result in a branch to a

 * null loop - which in turn will prevent the check variable from incrementing

 * any further and allow the check task (described a above) to determine that an

 * error has occurred.  The nature of the reg test tasks necessitates that they

 * are written in assembly code.

 *

 * *NOTE 1* vApplicationSetupTimerInterrupt() is called by the kernel to let

 * the application set up a timer to generate the tick interrupt.  In this

 * example a timer A0 is used for this purpose.

 *

*/

/* Standard includes. */

#include <stdio.h>

/* FreeRTOS includes. */

#include "FreeRTOS.h"

#include "task.h"

#include "queue.h"

/* Hardware includes. */

#include "msp430.h"

#include "hal_MSP-EXP430F5438.h"

/* Standard demo includes. */

#include "ParTest.h"

#include "dynamic.h"

#include "comtest2.h"

#include "GenQTest.h"

/* Codes sent within messages to the LCD task so the LCD task can interpret

exactly what the message it just received was.  These are sent in the

cMessageID member of the message structure (defined below). */

#define mainMESSAGE_BUTTON_UP                   ( 1 )

#define mainMESSAGE_BUTTON_SEL                  ( 2 )

#define mainMESSAGE_STATUS                              ( 3 )

/* When the cMessageID member of the message sent to the LCD task is

mainMESSAGE_STATUS then these definitions are sent in the ulMessageValue member

of the same message and indicate what the status actually is. */

#define mainERROR_DYNAMIC_TASKS                 ( pdPASS + 1 )

#define mainERROR_COM_TEST                              ( pdPASS + 2 )

#define mainERROR_GEN_QUEUE_TEST                ( pdPASS + 3 )

#define mainERROR_REG_TEST                              ( pdPASS + 4 )

/* The length of the queue (the number of items the queue can hold) that is used

to send messages from tasks and interrupts the the LCD task. */

#define mainQUEUE_LENGTH                                ( 5 )

/* Priorities used by the test and demo tasks. */

#define mainLCD_TASK_PRIORITY                   ( tskIDLE_PRIORITY + 1 )

#define mainCOM_TEST_PRIORITY                   ( tskIDLE_PRIORITY + 2 )

#define mainGENERIC_QUEUE_TEST_PRIORITY ( tskIDLE_PRIORITY )

/* The LED used by the comtest tasks. See the comtest.c file for more

information.  */

#define mainCOM_TEST_LED                                ( 1 )

/* The baud rate used by the comtest tasks described at the top of this file. */

#define mainCOM_TEST_BAUD_RATE                  ( 38400 )

/* The maximum number of lines of text that can be displayed on the LCD. */

#define mainMAX_LCD_LINES                               ( 8 )

/* Just used to ensure parameters are passed into tasks correctly. */

#define mainTASK_PARAMETER_CHECK_VALUE  ( ( void * ) 0xDEAD )

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

/*

 * The reg test tasks as described at the top of this file.

 */

extern void vRegTest1Task( void *pvParameters );

extern void vRegTest2Task( void *pvParameters );

/*

 * Configures clocks, LCD, port pints, etc. necessary to execute this demo.

 */

static void prvSetupHardware( void );

/*

 * Definition of the LCD/controller task described in the comments at the top

 * of this file.

 */

static void prvLCDTask( void *pvParameters );

/*

 * Definition of the button poll task described in the comments at the top of

 * this file.

 */

static void prvButtonPollTask( void *pvParameters );

/*

 * Converts a status message value into an appropriate string for display on

 * the LCD.  The string is written to pcBuffer.

 */

static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue );

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

/* Variables that are incremented on each iteration of the reg test tasks -

provided the tasks have not reported any errors.  The check task inspects these

variables to ensure they are still incrementing as expected.  If a variable

stops incrementing then it is likely that its associate task has stalled. */

volatile unsigned short usRegTest1Counter = 0, usRegTest2Counter = 0;

/* The handle of the queue used to send messages from tasks and interrupts to

the LCD task. */

static xQueueHandle xLCDQueue = NULL;

/* The definition of each message sent from tasks and interrupts to the LCD

task. */

typedef struct

{

        char cMessageID;                                /* << States what the message is. */

        unsigned long ulMessageValue;   /* << States the message value (can be an integer, string pointer, etc. depending on the value of cMessageID). */

} xQueueMessage;

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

/* The linker script tests the FreeRTOS ports use of 20bit addresses by

locating all code in high memory.  The following pragma ensures that main

remains in low memory.  The ISR_CODE segment is used for convenience as ISR

functions are always placed in low memory. */

#pragma location="ISR_CODE"

void main( void )

{

        /* Configure the peripherals used by this demo application.  This includes

        configuring the joystick input select button to generate interrupts. */

        prvSetupHardware();

        /* Create the queue used by tasks and interrupts to send strings to the LCD

        task. */

        xLCDQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( xQueueMessage ) );

        /* If the queue could not be created then don't create any tasks that might

        attempt to use the queue. */

        if( xLCDQueue != NULL )

        {

                /* Add the created queue to the queue registry so it can be viewed in

                the IAR FreeRTOS state viewer plug-in. */

                vQueueAddToRegistry( xLCDQueue, "LCDQueue" );

                /* Create the standard demo tasks. */

                vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );

                vStartDynamicPriorityTasks();

                vStartGenericQueueTasks( mainGENERIC_QUEUE_TEST_PRIORITY );

                /* Create the LCD, button poll and register test tasks, as described at

                the top of this file. */

                xTaskCreate( prvLCDTask, ( signed char * ) "LCD", configMINIMAL_STACK_SIZE * 2, mainTASK_PARAMETER_CHECK_VALUE, mainLCD_TASK_PRIORITY, NULL );

                xTaskCreate( prvButtonPollTask, ( signed char * ) "BPoll", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

                xTaskCreate( vRegTest1Task, ( signed char * ) "Reg1", configMINIMAL_STACK_SIZE, NULL, 0, NULL );

                xTaskCreate( vRegTest2Task, ( signed char * ) "Reg2", configMINIMAL_STACK_SIZE, NULL, 0, NULL );

                /* Start the scheduler. */

                vTaskStartScheduler();

        }

        /* If all is well then this line will never be reached.  If it is reached

        then it is likely that there was insufficient (FreeRTOS) heap memory space

        to create the idle task.  This may have been trapped by the malloc() failed

        hook function, if one is configured. */

        for( ;; );

}

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

static void prvLCDTask( void *pvParameters )

{

xQueueMessage xReceivedMessage;

/* Buffer into which strings are formatted and placed ready for display on the

LCD.  Note this is a static variable to prevent it being allocated on the task

stack, which is too small to hold such a variable.  The stack size is configured

when the task is created. */

static char cBuffer[ 512 ];

unsigned char ucLine = 1;

        /* This function is the only function that uses printf().  If printf() is

        used from any other function then some sort of mutual exclusion on stdout

        will be necessary.

        This is also the only function that is permitted to access the LCD.

        First print out the number of bytes that remain in the FreeRTOS heap.  This

        can be viewed in the terminal IO window within the IAR Embedded Workbench. */

        printf( "%d bytes of heap space remain unallocated\n", ( int ) xPortGetFreeHeapSize() );

        /* Just as a test of the port, and for no functional reason, check the task

        parameter contains its expected value. */

        if( pvParameters != mainTASK_PARAMETER_CHECK_VALUE )

        {

                halLcdPrintLine( "Invalid parameter", ucLine,  OVERWRITE_TEXT );

                ucLine++;

        }

        for( ;; )

        {

                /* Wait for a message to be received.  Using portMAX_DELAY as the block

                time will result in an indefinite wait provided INCLUDE_vTaskSuspend is

                set to 1 in FreeRTOSConfig.h, therefore there is no need to check the

                function return value and the function will only return when a value

                has been received. */

                xQueueReceive( xLCDQueue, &xReceivedMessage, portMAX_DELAY );

                /* Clear the LCD if no room remains for any more text output. */

                if( ucLine > mainMAX_LCD_LINES )

                {

                        halLcdClearScreen();

                        ucLine = 0;

                }

                /* What is this message?  What does it contain? */

                switch( xReceivedMessage.cMessageID )

                {

                        case mainMESSAGE_BUTTON_UP              :       /* The button poll task has just

                                                                                                informed this task that the up

                                                                                                button on the joystick input has

                                                                                                been pressed or released. */

                                                                                                sprintf( cBuffer, "Button up = %d", ( int ) xReceivedMessage.ulMessageValue );

                                                                                                break;

                        case mainMESSAGE_BUTTON_SEL             :       /* The select button interrupt

                                                                                                just informed this task that the

                                                                                                select button was pressed.

                                                                                                Generate a table of task run time

                                                                                                statistics and output this to

                                                                                                the terminal IO window in the IAR

                                                                                                embedded workbench. */

                                                                                                printf( "\nTask\t     Abs Time\t     %%Time\n*****************************************" );

                                                                                                vTaskGetRunTimeStats( ( signed char * ) cBuffer );

                                                                                                printf( cBuffer );

                                                                                                /* Also print out a message to

                                                                                                the LCD - in this case the

                                                                                                pointer to the string to print

                                                                                                is sent directly in the

                                                                                                ulMessageValue member of the

                                                                                                message.  This just demonstrates

                                                                                                a different communication

                                                                                                technique. */

                                                                                                sprintf( cBuffer, "%s", ( char * ) xReceivedMessage.ulMessageValue );

                                                                                                break;

                        case mainMESSAGE_STATUS                 :       /* The tick interrupt hook

                                                                                                function has just informed this

                                                                                                task of the system status.

                                                                                                Generate a string in accordance

                                                                                                with the status value. */

                                                                                                prvGenerateStatusMessage( cBuffer, xReceivedMessage.ulMessageValue );

                                                                                                break;

                        default                                                 :       sprintf( cBuffer, "Unknown message" );

                                                                                                break;

                }

                /* Output the message that was placed into the cBuffer array within the

                switch statement above, then move onto the next line ready for the next

                message to arrive on the queue. */

                halLcdPrintLine( cBuffer, ucLine,  OVERWRITE_TEXT );

                ucLine++;

        }

}

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

static void prvGenerateStatusMessage( char *pcBuffer, long lStatusValue )

{

        /* Just a utility function to convert a status value into a meaningful

        string for output onto the LCD. */

        switch( lStatusValue )

        {

                case pdPASS                                             :       sprintf( pcBuffer, "Status = PASS" );

                                                                                        break;

                case mainERROR_DYNAMIC_TASKS    :       sprintf( pcBuffer, "Err: Dynamic tsks" );

                                                                                        break;

                case mainERROR_COM_TEST                 :       sprintf( pcBuffer, "Err: COM test" );

                                                                                        break;

                case mainERROR_GEN_QUEUE_TEST   :       sprintf( pcBuffer, "Error: Gen Q test" );

                                                                                        break;

                case mainERROR_REG_TEST                 :       sprintf( pcBuffer, "Error: Reg test" );

                                                                                        break;

                default                                                 :       sprintf( pcBuffer, "Unknown status" );

                                                                                        break;

        }

}

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

static void prvButtonPollTask( void *pvParameters )

{

unsigned char ucLastState = pdFALSE, ucState;

xQueueMessage xMessage;

        /* This tasks performs the button polling functionality as described at the

        top of this file. */

        for( ;; )

        {

                /* Check the button state. */

                ucState = ( halButtonsPressed() & BUTTON_UP );

                if( ucState != 0 )

                {

                        /* The button was pressed. */

                        ucState = pdTRUE;

                }

                if( ucState != ucLastState )

                {

                        /* The state has changed, send a message to the LCD task. */

                        xMessage.cMessageID = mainMESSAGE_BUTTON_UP;

                        xMessage.ulMessageValue = ( unsigned long ) ucState;

                        ucLastState = ucState;

                        xQueueSend( xLCDQueue, &xMessage, portMAX_DELAY );

                }

                /* Block for 10 milliseconds so this task does not utilise all the CPU

                time and debouncing of the button is not necessary. */

                vTaskDelay( 10 / portTICK_RATE_MS );

        }

}

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

static void prvSetupHardware( void )

{

/* Convert a Hz value to a KHz value, as required by the Init_FLL_Settle()

function. */

unsigned long ulCPU_Clock_KHz = ( configCPU_CLOCK_HZ / 1000UL );

        halBoardInit();

        LFXT_Start( XT1DRIVE_0 );

        Init_FLL_Settle( ( unsigned short ) ulCPU_Clock_KHz, 488 );

        halButtonsInit( BUTTON_ALL );

        halButtonsInterruptEnable( BUTTON_SELECT );

        /* Initialise the LCD, but note that the backlight is not used as the

        library function uses timer A0 to modulate the backlight, and this file

        defines vApplicationSetupTimerInterrupt() to also use timer A0 to generate

        the tick interrupt.  If the backlight is required, then change either the

        halLCD library or vApplicationSetupTimerInterrupt() to use a different

        timer.  Timer A1 is used for the run time stats time base6. */

        halLcdInit();

        halLcdSetContrast( 100 );

        halLcdClearScreen();

        halLcdPrintLine( " www.FreeRTOS.org", 0,  OVERWRITE_TEXT );

}

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

void vApplicationTickHook( void )

{

static unsigned short usLastRegTest1Counter = 0, usLastRegTest2Counter = 0;

static unsigned long ulCounter = 0;

static const unsigned long ulCheckFrequency = 5000UL / portTICK_RATE_MS;

portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

/* Define the status message that is sent to the LCD task.  By default the

status is PASS. */

static xQueueMessage xStatusMessage = { mainMESSAGE_STATUS, pdPASS };

        /* This is called from within the tick interrupt and performs the 'check'

        functionality as described in the comments at the top of this file.

        Is it time to perform the 'check' functionality again? */

        ulCounter++;

        if( ulCounter >= ulCheckFrequency )

        {

                /* See if the standard demo tasks are executing as expected, changing

                the message that is sent to the LCD task from PASS to an error code if

                any tasks set reports an error. */

                if( xAreComTestTasksStillRunning() != pdPASS )

                {

                        xStatusMessage.ulMessageValue = mainERROR_COM_TEST;

                }

                if( xAreDynamicPriorityTasksStillRunning() != pdPASS )

                {

                        xStatusMessage.ulMessageValue = mainERROR_DYNAMIC_TASKS;

                }

                if( xAreGenericQueueTasksStillRunning() != pdPASS )

                {

                        xStatusMessage.ulMessageValue = mainERROR_GEN_QUEUE_TEST;

                }

                /* Check the reg test tasks are still cycling.  They will stop

                incrementing their loop counters if they encounter an error. */

                if( usRegTest1Counter == usLastRegTest1Counter )

                {

                        xStatusMessage.ulMessageValue = mainERROR_REG_TEST;

                }

                if( usRegTest2Counter == usLastRegTest2Counter )

                {

                        xStatusMessage.ulMessageValue = mainERROR_REG_TEST;

                }

                usLastRegTest1Counter = usRegTest1Counter;

                usLastRegTest2Counter = usRegTest2Counter;

                /* As this is the tick hook the lHigherPriorityTaskWoken parameter is not

                needed (a context switch is going to be performed anyway), but it must

                still be provided. */

                xQueueSendFromISR( xLCDQueue, &xStatusMessage, &xHigherPriorityTaskWoken );

                ulCounter = 0;

        }

        /* Just periodically toggle an LED to show that the tick interrupt is

        running.  Note that this access LED_PORT_OUT in a non-atomic way, so tasks

        that access the same port must do so from a critical section. */

        if( ( ulCounter & 0xff ) == 0 )

        {

                if( ( LED_PORT_OUT & LED_1 ) == 0 )

                {

                        LED_PORT_OUT |= LED_1;

                }

                else

                {

                        LED_PORT_OUT &= ~LED_1;

                }

        }

}

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

#pragma vector=PORT2_VECTOR

__interrupt static void prvSelectButtonInterrupt(void)

{

/* Define the message sent to the LCD task from this interrupt. */

static const xQueueMessage xMessage = { mainMESSAGE_BUTTON_SEL, ( unsigned long ) "Select Interrupt" };

portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

        /* This is the interrupt handler for the joystick select button input.

        The button has been pushed, write a message to the LCD via the LCD task. */

        xQueueSendFromISR( xLCDQueue, &xMessage, &xHigherPriorityTaskWoken );

        P2IFG = 0;

        /* If writing to xLCDQueue caused a task to unblock, and the unblocked task

        has a priority equal to or above the task that this interrupt interrupted,

        then lHigherPriorityTaskWoken will have been set to pdTRUE internally within

        xQueuesendFromISR(), and portEND_SWITCHING_ISR() will ensure that this

        interrupt returns directly to the higher priority unblocked task. */

        portYIELD_FROM_ISR( xHigherPriorityTaskWoken );

}

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

/* The MSP430X port uses this callback function to configure its tick interrupt.

This allows the application to choose the tick interrupt source.

configTICK_VECTOR must also be set in FreeRTOSConfig.h to the correct

interrupt vector for the chosen tick interrupt source.  This implementation of

vApplicationSetupTimerInterrupt() generates the tick from timer A0, so in this

case configTICK_VECTOR is set to TIMER0_A0_VECTOR. */

void vApplicationSetupTimerInterrupt( void )

{

const unsigned short usACLK_Frequency_Hz = 32768;

        /* Ensure the timer is stopped. */

        TA0CTL = 0;

        /* Run the timer from the ACLK. */

        TA0CTL = TASSEL_1;

        /* Clear everything to start with. */

        TA0CTL |= TACLR;

        /* Set the compare match value according to the tick rate we want. */

        TA0CCR0 = usACLK_Frequency_Hz / configTICK_RATE_HZ;

        /* Enable the interrupts. */

        TA0CCTL0 = CCIE;

        /* Start up clean. */

        TA0CTL |= TACLR;

        /* Up mode. */

        TA0CTL |= MC_1;

}

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

void vApplicationIdleHook( void )

{

        /* Called on each iteration of the idle task.  In this case the idle task

        just enters a low power mode. */

        __bis_SR_register( LPM3_bits + GIE );

}

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

void vApplicationMallocFailedHook( void )

{

        /* Called if a call to pvPortMalloc() fails because there is insufficient

        free memory available in the FreeRTOS heap.  pvPortMalloc() is called

        internally by FreeRTOS API functions that create tasks, queues or

        semaphores. */

        taskDISABLE_INTERRUPTS();

        for( ;; );

}

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

void vApplicationStackOverflowHook( xTaskHandle *pxTask, signed char *pcTaskName )

{

        ( void ) pxTask;

        ( void ) pcTaskName;

        /* Run time stack overflow checking is performed if

        configconfigCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook

        function is called if a stack overflow is detected. */

        taskDISABLE_INTERRUPTS();

        for( ;; );

}

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