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/*

    FreeRTOS V4.6.1 - copyright (C) 2003-2006 Richard Barry.

    MCF5235 Port - Copyright (C) 2006 Christian Walter.

    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** as published by

    the Free Software Foundation; either version 2 of the License, or

    (at your option) any later version.

    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

    along with FreeRTOS; if not, write to the Free Software

    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    A special exception to the GPL can be applied should you wish to distribute

    a combined work that includes FreeRTOS, without being obliged to provide

    the source code for any proprietary components.  See the licensing section

    of http://www.FreeRTOS.org for full details of how and when the exception

    can be applied.

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

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

    *                                                                         *

    * Get the FreeRTOS eBook!  See http://www.FreeRTOS.org/Documentation      *

        *                                                                         *

        * This is a concise, step by step, 'hands on' guide that describes both   *

        * general multitasking concepts and FreeRTOS specifics. It presents and   *

        * explains numerous examples that are written using the FreeRTOS API.     *

        * Full source code for all the examples is provided in an accompanying    *

        * .zip file.                                                              *

    *                                                                         *

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

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

        Please ensure to read the configuration and relevant port sections of the

        online documentation.

        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.

*/

/* ------------------------ System includes ------------------------------- */

#include <stdlib.h>

#include <stdio.h>

#include <string.h>

#include <assert.h>

/* ------------------------ FreeRTOS includes ----------------------------- */

#include "FreeRTOS.h"

#include "task.h"

/* ------------------------ LWIP includes --------------------------------- */

#include "lwip/api.h"

#include "lwip/tcpip.h"

#include "lwip/memp.h"

/* ------------------------ Project includes ------------------------------ */

#include "mcf5xxx.h"

#include "mcf523x.h"

#include "serial.h"

#include "web.h"

#include "integer.h"

#include "PollQ.h"

#include "semtest.h"

#include "BlockQ.h"

#include "dynamic.h"

#include "flop.h"

/* ------------------------ Defines --------------------------------------- */

#define mainCOM_TEST_BAUD_RATE      ( ( unsigned long ) 38400 )

/* 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 + 2 )

#define mainCHECK_TASK_PRIORITY     ( tskIDLE_PRIORITY + 4 )

#define mainSEM_TEST_PRIORITY       ( tskIDLE_PRIORITY + 1 )

#define mainBLOCK_Q_PRIORITY        ( tskIDLE_PRIORITY + 2 )

#define mainWEB_TASK_PRIORITY       ( tskIDLE_PRIORITY + 3 )

#define STACK_DEFAULT               ( 1024 )

/* Interval in which tasks are checked. */

#define mainCHECK_PERIOD            ( ( portTickType ) 2000 / portTICK_RATE_MS  )

/* 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 )

/* ------------------------ Static variables ------------------------------ */

xComPortHandle  xSTDComPort = NULL;

/* ------------------------ Static functions ------------------------------ */

static          portTASK_FUNCTION( vErrorChecks, pvParameters );

static long prvCheckOtherTasksAreStillRunning( unsigned long

                                                   ulMemCheckTaskCount );

static          portTASK_FUNCTION( vMemCheckTask, pvParameters );

/* ------------------------ Implementation -------------------------------- */

int

main( int argc, char *argv[] )

{

    asm volatile    ( "move.w  #0x2000, %sr\n\t" );

    xSTDComPort = xSerialPortInitMinimal( 38400, 8 );

    vlwIPInit(  );

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

    vStartIntegerMathTasks( tskIDLE_PRIORITY );

    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );

    //vStartMathTasks( tskIDLE_PRIORITY );

    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );

    vStartDynamicPriorityTasks(  );

    vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );

    /* Start the webserver. */

    ( void )sys_thread_new( vBasicWEBServer, NULL, mainWEB_TASK_PRIORITY );

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

    xTaskCreate( vErrorChecks, ( signed char * )"Check", 512, NULL,

                 mainCHECK_TASK_PRIORITY, NULL );

        /* Now all the tasks have been started - start the scheduler. */

    vTaskStartScheduler(  );

    /* Should never get here! */

    return 0;

}

static

portTASK_FUNCTION( vErrorChecks, pvParameters )

{

    unsigned long ulMemCheckTaskRunningCount;

    xTaskHandle     xCreatedTask;

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

    ( void )pvParameters;

    for( ;; )

    {

        ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;

        xCreatedTask = mainNO_TASK;

        if( xTaskCreate( vMemCheckTask, ( signed char * )"MEM",

                         configMINIMAL_STACK_SIZE, ( void * )&ulMemCheckTaskRunningCount,

                         tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )

        {

            xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );

        }

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

        vTaskDelay( mainCHECK_PERIOD );

        /* Delete the dynamically created task. */

        if( xCreatedTask != mainNO_TASK )

        {

            vTaskDelete( xCreatedTask );

        }

        if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )

        {

            xSerialPutChar( xSTDComPort, 'E', portMAX_DELAY );

        }

        else

        {

            xSerialPutChar( xSTDComPort, '.', portMAX_DELAY );

        }

    }

}

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( xArePollingQueuesStillRunning(  ) != 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(  );

    }

}