/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/*
 *  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.  The SAM7
 * includes a sample USB that emulates a Joystick input to a USB host.
 *
 * 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.
 *
 */

/* Standard includes. */
#include <stdlib.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Demo application includes. */
#include "flash.h"
#include "integer.h"
#include "PollQ.h"
#include "BlockQ.h"
#include "semtest.h"
#include "dynamic.h"
#include "partest.h"
#include "comtest2.h"
#include "USB/USBSample.h"

/* Priorities for the demo application tasks. */
#define mainLED_TASK_PRIORITY        ( tskIDLE_PRIORITY + 3 )
#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 mainCOM_TEST_PRIORITY        ( tskIDLE_PRIORITY + 2 )
#define mainUSB_PRIORITY             ( tskIDLE_PRIORITY + 2 )

/* Constants required by the 'Check' task. */
#define mainNO_ERROR_FLASH_PERIOD    ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
#define mainERROR_FLASH_PERIOD       ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
#define mainCHECK_TASK_LED           ( 3 )

/* Constants for the ComTest tasks. */
#define mainCOM_TEST_BAUD_RATE       ( ( unsigned long ) 115200 )
#define mainCOM_TEST_LED             ( 4 ) /* Off the board. */

/*
 * 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 );

/*
 * Configure the processor for use with the Atmel demo board.  Setup is minimal
 * as the low level init function (called from the startup asm file) takes care
 * of most things.
 */
static void prvSetupHardware( void );

/*
 * Checks that all the demo application tasks are still executing without error
 * - as described at the top of the file.
 */
static long prvCheckOtherTasksAreStillRunning( void );


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

/*
 * Starts all the other tasks, then starts the scheduler.
 */
void main( void )
{
    /* Setup any hardware that has not already been configured by the low
     * level init routines. */
    prvSetupHardware();

    /* Initialise the LED outputs for use by the demo application tasks. */
    vParTestInitialise();

    /* Start all the standard demo application tasks. */
    vStartIntegerMathTasks( tskIDLE_PRIORITY );
    vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
    vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
    vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vStartDynamicPriorityTasks();
    vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );

    /* Also start the USB demo which is just for the SAM7. */
    xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL );

    /* Start the check task - which is defined in this file. */
    xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

    /* 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();

    /* We should never get here as control is now taken by the scheduler. */
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
    /* When using the JTAG debugger the hardware is not always initialised to
     * the correct default state.  This line just ensures that this does not
     * cause all interrupts to be masked at the start. */
    AT91C_BASE_AIC->AIC_EOICR = 0;

    /* Most setup is performed by the low level init function called from the
     * startup asm file. */

    /* Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as
     * well as the UART Tx line. */
    AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, LED_MASK );

    /* Enable the peripheral clock. */
    AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
}
/*-----------------------------------------------------------*/

static void vErrorChecks( void * pvParameters )
{
    TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;

    /* The parameters are not used in this task. */
    ( 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. */

    for( ; ; )
    {
        /* Delay until it is time to execute again. */
        vTaskDelay( xDelayPeriod );

        /* Check all the standard demo application tasks are executing without
         * error. */
        if( prvCheckOtherTasksAreStillRunning() != pdPASS )
        {
            /* An error has been detected in one of the tasks - flash faster. */
            xDelayPeriod = mainERROR_FLASH_PERIOD;
        }

        vParTestToggleLED( mainCHECK_TASK_LED );
    }
}
/*-----------------------------------------------------------*/

static long prvCheckOtherTasksAreStillRunning( void )
{
    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( xAreBlockingQueuesStillRunning() != pdTRUE )
    {
        lReturn = ( long ) pdFAIL;
    }

    if( xAreComTestTasksStillRunning() != pdTRUE )
    {
        lReturn = ( long ) pdFAIL;
    }

    if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
    {
        lReturn = ( long ) pdFAIL;
    }

    return lReturn;
}
/*-----------------------------------------------------------*/