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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,                                        *
    *    + Wanting to improve your FreeRTOS skills and productivity           *
    *                                                                         *
    * 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.
*/
 
/*
 * Creates the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the demo application tasks.
 * 
 * Main. c also creates four other tasks:
 * 
 * 1) vErrorChecks()
 * This only executes every few seconds but has the highest priority so is 
 * guaranteed to get processor time.  Its main function is to check that all 
 * the standard demo application tasks are still operational and have not
 * experienced any errors.  vErrorChecks() will toggle the on board LED
 * every mainNO_ERROR_FLASH_PERIOD milliseconds if none of the demo application
 * tasks have reported an error.  Should any task report an error at any time
 * the rate at which the on board LED is toggled is increased to 
 * mainERROR_FLASH_PERIOD - providing visual feedback that something has gone
 * wrong.
 *
 * 2) vRegisterCheck()
 * This is a very simple task that checks that all the registers are always
 * in their expected state.  The task only makes use of the A register, so
 * all the other registers should always contain their initial values.
 * An incorrect value indicates an error in the context switch mechanism.
 * The task operates at the idle priority so will be preempted regularly.
 * Any error will cause the toggle rate of the on board LED to increase to
 * mainERROR_FLASH_PERIOD milliseconds.
 *
 * 3 and 4) vFLOPCheck1() and vFLOPCheck2()
 * These are very basic versions of the standard FLOP tasks.  They are good
 * at detecting errors in the context switch mechanism, and also check that
 * the floating point libraries are correctly built to be re-enterant.  The
 * stack restrictions of the 8051 prevent the use of the standard FLOP demo
 * tasks.
 */
 
/* Standard includes. */
#include <stdlib.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"
 
/* Demo task priorities. */
#define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 1 )
#define mainQUEUE_POLL_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_PRIORITY		tskIDLE_PRIORITY
 
/* Constants required to disable the watchdog. */
#define mainDISABLE_BYTE_1			( ( unsigned char ) 0xde )
#define mainDISABLE_BYTE_2			( ( unsigned char ) 0xad )
 
/* Constants to setup and use the on board LED. */
#define ucLED_BIT					( ( unsigned char ) 0x40 )
#define mainPORT_1_BIT_6			( ( unsigned char ) 0x40 )
#define mainENABLE_CROSS_BAR		( ( unsigned char ) 0x40 )
 
/* Constants to set the clock frequency. */
#define mainSELECT_INTERNAL_OSC		( ( unsigned char ) 0x80 )
#define mainDIVIDE_CLOCK_BY_1		( ( unsigned char ) 0x03 )
#define mainPLL_USES_INTERNAL_OSC	( ( unsigned char ) 0x04 )
#define mainFLASH_READ_TIMING		( ( unsigned char ) 0x30 )
#define mainPLL_POWER_ON			( ( unsigned char ) 0x01 )
#define mainPLL_NO_PREDIVIDE		( ( unsigned char ) 0x01 )
#define mainPLL_FILTER				( ( unsigned char ) 0x01 )
#define mainPLL_MULTIPLICATION		( ( unsigned char ) 0x04 )
#define mainENABLE_PLL				( ( unsigned char ) 0x02 )
#define mainPLL_LOCKED				( ( unsigned char ) 0x10 )
#define mainSELECT_PLL_AS_SOURCE	( ( unsigned char ) 0x02 )
 
/* Toggle rate for the on board LED - which is dependent on whether or not
an error has been detected. */
#define mainNO_ERROR_FLASH_PERIOD	( ( portTickType ) 5000 )
#define mainERROR_FLASH_PERIOD		( ( portTickType ) 250 )
 
/* Baud rate used by the serial port tasks. */
#define mainCOM_TEST_BAUD_RATE		( ( unsigned long ) 115200 )
 
/* Pass an invalid LED number to the COM test task as we don't want it to flash
an LED.  There are only 8 LEDs (excluding the on board LED) wired in and these
are all used by the flash tasks. */
#define mainCOM_TEST_LED			( 200 )
 
/* We want the Cygnal to act as much as possible as a standard 8052. */
#define mainAUTO_SFR_OFF			( ( unsigned char ) 0 )
 
/* Constants required to setup the IO pins for serial comms. */
#define mainENABLE_COMS 			( ( unsigned char ) 0x04 )
#define mainCOMS_LINES_TO_PUSH_PULL ( ( unsigned char ) 0x03 )
 
/* Pointer passed as a parameter to vRegisterCheck() just so it has some know
values to check for in the DPH, DPL and B registers. */
#define mainDUMMY_POINTER		( ( xdata void * ) 0xabcd )
 
/* Macro that lets vErrorChecks() know that one of the tasks defined in
main. c has detected an error.  A critical region is used around xLatchError
as it is accessed from vErrorChecks(), which has a higher priority. */ 
#define mainLATCH_ERROR()			\
{									\
	portENTER_CRITICAL();			\
		xLatchedError = pdTRUE;		\
	portEXIT_CRITICAL();			\
}
 
/*
 * Setup the Cygnal microcontroller for its fastest operation. 
 */
static void prvSetupSystemClock( void );
 
/*
 * Setup the peripherals, including the on board LED. 
 */
static void prvSetupHardware( void );
 
/*
 * Toggle the state of the on board LED. 
 */
static void prvToggleOnBoardLED( void );
 
/*
 * See comments at the top of the file for details. 
 */
static void vErrorChecks( void *pvParameters );
 
/*
 * See comments at the top of the file for details. 
 */
static void vRegisterCheck( void *pvParameters );
 
/*
 * See comments at the top of the file for details. 
 */
static void vFLOPCheck1( void *pvParameters );
 
/*
 * See comments at the top of the file for details. 
 */
static void vFLOPCheck2( void *pvParameters );
 
/* File scope variable used to communicate the occurrence of an error between
tasks. */
static portBASE_TYPE xLatchedError = pdFALSE;
 
/*-----------------------------------------------------------*/
 
/*
 * Starts all the other tasks, then starts the scheduler. 
 */
void main( void )
{
	/* Initialise the hardware including the system clock and on board
	LED. */
	prvSetupHardware();
 
	/* Initialise the port that controls the external LED's utilized by the
	flash tasks. */
	vParTestInitialise();
 
	/* Start the used standard demo tasks. */
	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartIntegerMathTasks( mainINTEGER_PRIORITY );
	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
 
	/* Start the tasks defined in this file.  The first three never block so
	must not be used with the co-operative scheduler. */
	#if configUSE_PREEMPTION == 1
	{
		xTaskCreate( vRegisterCheck, "RegChck", configMINIMAL_STACK_SIZE, mainDUMMY_POINTER, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
		xTaskCreate( vFLOPCheck1, "FLOP", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
		xTaskCreate( vFLOPCheck2, "FLOP", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, ( xTaskHandle * ) NULL );
	}
	#endif 
 
	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, ( xTaskHandle * ) NULL );
 
	/* Finally kick off the scheduler.  This function should never return. */
	vTaskStartScheduler();
 
	/* Should never reach here as the tasks will now be executing under control
	of the scheduler. */
}
/*-----------------------------------------------------------*/
 
/*
 * Setup the hardware prior to using the scheduler.  Most of the Cygnal
 * specific initialisation is performed here leaving standard 8052 setup
 * only in the driver code.
 */
static void prvSetupHardware( void )
{
unsigned char ucOriginalSFRPage;
 
	/* Remember the SFR page before it is changed so it can get set back
	before the function exits. */
	ucOriginalSFRPage = SFRPAGE;
 
	/* Setup the SFR page to access the config SFR's. */
	SFRPAGE = CONFIG_PAGE;
 
	/* Don't allow the microcontroller to automatically switch SFR page, as the
	SFR page is not stored as part of the task context. */
	SFRPGCN = mainAUTO_SFR_OFF;
 
	/* Disable the watchdog. */
	WDTCN = mainDISABLE_BYTE_1;
	WDTCN = mainDISABLE_BYTE_2;
 
	/* Set the on board LED to push pull. */
	P1MDOUT |= mainPORT_1_BIT_6;
 
	/* Setup the cross bar to enable serial comms here as it is not part of the 
	standard 8051 setup and therefore is not in the driver code. */
	XBR0 |= mainENABLE_COMS;
	P0MDOUT |= mainCOMS_LINES_TO_PUSH_PULL;
 
	/* Enable the cross bar so our hardware setup takes effect. */
	XBR2 = mainENABLE_CROSS_BAR;
 
	/* Setup a fast system clock. */
	prvSetupSystemClock();
 
	/* Return the SFR page. */
	SFRPAGE = ucOriginalSFRPage;
}
/*-----------------------------------------------------------*/
 
static void prvSetupSystemClock( void )
{
volatile unsigned short usWait;
const unsigned short usWaitTime = ( unsigned short ) 0x2ff;
unsigned char ucOriginalSFRPage;
 
	/* Remember the SFR page so we can set it back at the end. */
	ucOriginalSFRPage = SFRPAGE;
	SFRPAGE = CONFIG_PAGE;
 
	/* Use the internal oscillator set to its fasted frequency. */
	OSCICN = mainSELECT_INTERNAL_OSC | mainDIVIDE_CLOCK_BY_1;
 
	/* Ensure the clock is stable. */
	for( usWait = 0; usWait < usWaitTime; usWait++ );
 
	/* Setup the clock source for the PLL. */
	PLL0CN &= ~mainPLL_USES_INTERNAL_OSC;
 
	/* Change the read timing for the flash ready for the fast clock. */
	SFRPAGE = LEGACY_PAGE;
	FLSCL |= mainFLASH_READ_TIMING;
 
	/* Turn on the PLL power. */
	SFRPAGE = CONFIG_PAGE;
	PLL0CN |= mainPLL_POWER_ON;
 
	/* Don't predivide the clock. */
	PLL0DIV = mainPLL_NO_PREDIVIDE;
 
	/* Set filter for fastest clock. */
	PLL0FLT = mainPLL_FILTER;
	PLL0MUL = mainPLL_MULTIPLICATION;
 
	/* Ensure the clock is stable. */
	for( usWait = 0; usWait < usWaitTime; usWait++ );
 
	/* Enable the PLL and wait for it to lock. */
	PLL0CN |= mainENABLE_PLL;
	for( usWait = 0; usWait < usWaitTime; usWait++ )
	{
		if( PLL0CN & mainPLL_LOCKED )
		{
			break;
		}
	}
 
	/* Select the PLL as the clock source. */
	CLKSEL |= mainSELECT_PLL_AS_SOURCE;
 
	/* Return the SFR back to its original value. */
	SFRPAGE = ucOriginalSFRPage;
}
/*-----------------------------------------------------------*/
 
static void prvToggleOnBoardLED( void )
{
	/* If the on board LED is on, turn it off and visa versa. */
	if( P1 & ucLED_BIT )
	{
		P1 &= ~ucLED_BIT;
	}
	else
	{
		P1 |= ucLED_BIT;
	}
}
/*-----------------------------------------------------------*/
 
/*
 * See the documentation at the top of this file. 
 */
static void vErrorChecks( void *pvParameters )
{
portBASE_TYPE xErrorHasOccurred = pdFALSE;
 
	/* Just to prevent compiler warnings. */
	( void ) pvParameters;
 
	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error.   The delay period depends on whether an error
	has ever been detected. */
	for( ;; )
	{
		if( xLatchedError == pdFALSE )
		{		
			/* No errors have been detected so delay for a longer period.  The
			on board LED will get toggled every mainNO_ERROR_FLASH_PERIOD ms. */
			vTaskDelay( mainNO_ERROR_FLASH_PERIOD );
		}
		else
		{
			/* We have at some time recognised an error in one of the demo
			application tasks, delay for a shorter period.  The on board LED
			will get toggled every mainERROR_FLASH_PERIOD ms. */
			vTaskDelay( mainERROR_FLASH_PERIOD );
		}
 
 
 
		/* Check the demo application tasks for errors. */
 
		if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
		{
			xErrorHasOccurred = pdTRUE;
		}
 
		if( xArePollingQueuesStillRunning() != pdTRUE )
		{
			xErrorHasOccurred = pdTRUE;
		}
 
		if( xAreComTestTasksStillRunning() != pdTRUE )
		{
			xErrorHasOccurred = pdTRUE;
		}
 
		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
		{
			xErrorHasOccurred = pdTRUE;
		}
 
		/* If an error has occurred, latch it to cause the LED flash rate to 
		increase. */
		if( xErrorHasOccurred == pdTRUE )
		{
			xLatchedError = pdTRUE;
		}
 
		/* Toggle the LED to indicate the completion of a check cycle.  The
		frequency of check cycles is dependent on whether or not we have 
		latched an error. */
		prvToggleOnBoardLED();
	}
}
/*-----------------------------------------------------------*/
 
/*
 * See the documentation at the top of this file.  Also see the standard FLOP
 * demo task documentation for the rationale of these tasks.
 */
static void vFLOPCheck1( void *pvParameters )
{
volatile portFLOAT fVal1, fVal2, fResult;
 
	( void ) pvParameters;
 
	for( ;; )
	{
		fVal1 = ( portFLOAT ) -1234.5678;
		fVal2 = ( portFLOAT ) 2345.6789;
 
		fResult = fVal1 + fVal2;
		if( ( fResult > ( portFLOAT )  1111.15 ) || ( fResult < ( portFLOAT ) 1111.05 ) )
		{
			mainLATCH_ERROR();
		}
 
		fResult = fVal1 / fVal2;
		if( ( fResult > ( portFLOAT ) -0.51 ) || ( fResult < ( portFLOAT ) -0.53 ) )
		{
			mainLATCH_ERROR();
		}
	}
}
/*-----------------------------------------------------------*/
 
/*
 * See the documentation at the top of this file.
 */
static void vFLOPCheck2( void *pvParameters )
{
volatile portFLOAT fVal1, fVal2, fResult;
 
	( void ) pvParameters;
 
	for( ;; )
	{
		fVal1 = ( portFLOAT ) -12340.5678;
		fVal2 = ( portFLOAT ) 23450.6789;
 
		fResult = fVal1 + fVal2;
		if( ( fResult > ( portFLOAT ) 11110.15 ) || ( fResult < ( portFLOAT ) 11110.05 ) )
		{
			mainLATCH_ERROR();
		}
 
		fResult = fVal1 / -fVal2;
		if( ( fResult > ( portFLOAT ) 0.53 ) || ( fResult < ( portFLOAT ) 0.51 ) )
		{
			mainLATCH_ERROR();
		}
	}
}
/*-----------------------------------------------------------*/
 
/*
 * See the documentation at the top of this file. 
 */
static void vRegisterCheck( void *pvParameters )
{
	( void ) pvParameters;
 
	for( ;; )
	{
		if( SP != configSTACK_START )
		{
			mainLATCH_ERROR();
		}
 
		_asm
			MOV ACC, ar0
		_endasm;
 
		if( ACC != 0 )
		{
			mainLATCH_ERROR();
		}
 
		_asm
			MOV ACC, ar1
		_endasm;
 
		if( ACC != 1 )
		{
			mainLATCH_ERROR();
		}
		_asm
			MOV ACC, ar2
		_endasm;
 
		if( ACC != 2 )
		{
			mainLATCH_ERROR();
		}
		_asm
			MOV ACC, ar3
		_endasm;
 
		if( ACC != 3 )
		{
			mainLATCH_ERROR();
		}
		_asm
			MOV ACC, ar4
		_endasm;
 
		if( ACC != 4 )
		{
			mainLATCH_ERROR();
		}
		_asm
			MOV ACC, ar5
		_endasm;
 
		if( ACC != 5 )
		{
			mainLATCH_ERROR();
		}
		_asm
			MOV ACC, ar6
		_endasm;
 
		if( ACC != 6 )
		{
			mainLATCH_ERROR();
		}
		_asm
			MOV ACC, ar7
		_endasm;
 
		if( ACC != 7 )
		{
			mainLATCH_ERROR();
		}
 
		if( DPL != 0xcd )
		{
			mainLATCH_ERROR();
		}
 
		if( DPH != 0xab )
		{
			mainLATCH_ERROR();
		}
 
		if( B != 0x01 )
		{
			mainLATCH_ERROR();
		}			
	}
}