/*
 * 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.
 */


/*
 * Program entry point.
 *
 * main() is responsible for setting up the microcontroller peripherals, then
 * starting the demo application tasks.  Once the tasks have been created the
 * scheduler is started and main() should never complete.
 *
 * The demo creates the three standard 'flash' tasks to provide some visual
 * feedback that the system and scheduler are still operating correctly.
 *
 * The HTTP server task operates at the highest priority so will always preempt
 * the flash or idle task on TCP/IP events.
 */

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

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "semphr.h"
#include "task.h"

/* Application includes. */
#include "i2c.h"
#include "HTTP_Serv.h"
#include "flash.h"
#include "partest.h"
#include "dynamic.h"
#include "semtest.h"
#include "PollQ.h"
#include "BlockQ.h"
#include "integer.h"

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

/* Constants to setup the PLL. */
#define mainPLL_MUL_4               ( ( unsigned char ) 0x0003 )
#define mainPLL_DIV_1               ( ( unsigned char ) 0x0000 )
#define mainPLL_ENABLE              ( ( unsigned char ) 0x0001 )
#define mainPLL_CONNECT             ( ( unsigned char ) 0x0003 )
#define mainPLL_FEED_BYTE1          ( ( unsigned char ) 0xaa )
#define mainPLL_FEED_BYTE2          ( ( unsigned char ) 0x55 )
#define mainPLL_LOCK                ( ( unsigned long ) 0x0400 )

/* Constants to setup the MAM. */
#define mainMAM_TIM_3               ( ( unsigned char ) 0x03 )
#define mainMAM_MODE_FULL           ( ( unsigned char ) 0x02 )

/* Constants to setup the peripheral bus. */
#define mainBUS_CLK_FULL            ( ( unsigned char ) 0x01 )

/* Constants to setup I/O and processor. */
#define mainBUS_CLK_FULL            ( ( unsigned char ) 0x01 )
#define mainLED_TO_OUTPUT           ( ( unsigned long ) 0xff0000 )
#define mainJTAG_PORT               ( ( unsigned long ) 0x3E0000UL )

/* Priorities for the demo application tasks. */
#define mainLED_TASK_PRIORITY       ( tskIDLE_PRIORITY + 1 )
#define mainHTTP_TASK_PRIORITY      ( tskIDLE_PRIORITY + 2 )
#define mainBLOCK_Q_PRIORITY        ( tskIDLE_PRIORITY + 2 )
#define mainQUEUE_POLL_PRIORITY     ( tskIDLE_PRIORITY + 2 )
#define mainERROR_CHECK_PRIORITY    ( tskIDLE_PRIORITY + 1 )

/* Flash rates of the on board LED to indicate the health of the system. */
#define mainNO_ERROR_DELAY          ( 3000 )
#define mainERROR_DELAY             ( 500 )
#define mainON_BOARD_LED_BIT        ( ( unsigned long ) 0x80 )

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

/*
 * The Olimex demo board has a single built in LED.  This function simply
 * toggles its state.
 */
void prvToggleOnBoardLED( void );

/*
 * Configure the processor for use with the Olimex demo board.
 */
static void prvSetupHardware( void );

/*
 * Simply check for errors and toggle the onboard LED.
 */
static void prvErrorChecks( void * pvParameters );

/*
 * Return true if the demo tasks are executing without error - otherwise
 * return false.
 */
static void prvMainCheckOtherTasksAreStillRunning( void );
/*-----------------------------------------------------------*/

/* Flag set by prvMainCheckOtherTasksAreStillExecuting(). */
long lErrorInTask = pdFALSE;

/*
 * Application entry point:
 * Starts all the other tasks, then starts the scheduler.
 */
int main( void )
{
    /* Setup the hardware for use with the Olimex demo board. */
    prvSetupHardware();

    /* Start the standard flash tasks so the WEB server is not the only thing
     * running. */
    vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
    vStartSemaphoreTasks( tskIDLE_PRIORITY );
    vStartDynamicPriorityTasks();
    vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
    vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
    vStartIntegerMathTasks( tskIDLE_PRIORITY );

    /* Start the WEB server task and the error check task. */
    xTaskCreate( vHTTPServerTask, "HTTP", configMINIMAL_STACK_SIZE, NULL, mainHTTP_TASK_PRIORITY, NULL );
    xTaskCreate( prvErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainERROR_CHECK_PRIORITY, NULL );

    /* Now all the tasks have been started - 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. */
    vTaskStartScheduler();

    /* Should never reach here! */
    return 0;
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
    #ifdef RUN_FROM_RAM
        /* Remap the interrupt vectors to RAM if we are are running from RAM. */
        SCB_MEMMAP = 2;
    #endif

    /* Set all GPIO to output other than the P0.14 (BSL), and the JTAG pins.
     * The JTAG pins are left as input as I'm not sure what will happen if the
     * Wiggler is connected after powerup - not that it would be a good idea to
     * do that anyway. */
    GPIO_IODIR = ~( mainJTAG_PORT );

    /* Setup the PLL to multiply the XTAL input by 4. */
    SCB_PLLCFG = ( mainPLL_MUL_4 | mainPLL_DIV_1 );

    /* Activate the PLL by turning it on then feeding the correct sequence of
     * bytes. */
    SCB_PLLCON = mainPLL_ENABLE;
    SCB_PLLFEED = mainPLL_FEED_BYTE1;
    SCB_PLLFEED = mainPLL_FEED_BYTE2;

    /* Wait for the PLL to lock... */
    while( !( SCB_PLLSTAT & mainPLL_LOCK ) )
    {
    }

    /* ...before connecting it using the feed sequence again. */
    SCB_PLLCON = mainPLL_CONNECT;
    SCB_PLLFEED = mainPLL_FEED_BYTE1;
    SCB_PLLFEED = mainPLL_FEED_BYTE2;

    /* Setup and turn on the MAM.  Three cycle access is used due to the fast
     * PLL used.  It is possible faster overall performance could be obtained by
     * tuning the MAM and PLL settings. */
    MAM_TIM = mainMAM_TIM_3;
    MAM_CR = mainMAM_MODE_FULL;

    /* Setup the peripheral bus to be the same as the PLL output. */
    SCB_VPBDIV = mainBUS_CLK_FULL;

    /* Initialise the i2c peripheral. */
    i2cInit();

    /* Initialise the LED's used by the flash tasks. */
    vParTestInitialise();
}
/*-----------------------------------------------------------*/

static void prvMainCheckOtherTasksAreStillRunning( void )
{
    /* 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. */

    /* This function is called from more than one task. */
    if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
    {
        lErrorInTask = pdTRUE;
    }

    if( xArePollingQueuesStillRunning() != pdTRUE )
    {
        lErrorInTask = pdTRUE;
    }

    if( xAreSemaphoreTasksStillRunning() != pdTRUE )
    {
        lErrorInTask = pdTRUE;
    }

    if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
    {
        lErrorInTask = pdTRUE;
    }

    if( xAreBlockingQueuesStillRunning() != pdTRUE )
    {
        lErrorInTask = pdTRUE;
    }
}
/*-----------------------------------------------------------*/

void prvToggleOnBoardLED( void )
{
    unsigned long ulState;

    ulState = GPIO0_IOPIN;

    if( ulState & mainON_BOARD_LED_BIT )
    {
        GPIO_IOCLR = mainON_BOARD_LED_BIT;
    }
    else
    {
        GPIO_IOSET = mainON_BOARD_LED_BIT;
    }
}
/*-----------------------------------------------------------*/

static void prvErrorChecks( void * pvParameters )
{
    TickType_t xDelay = mainNO_ERROR_DELAY;

    /* The parameters are not used. */
    ( void ) pvParameters;

    for( ; ; )
    {
        /* How long we delay depends on whether an error has been detected
         * or not.  Therefore the flash rate of the on board LED indicates
         * whether or not an error has occurred. */
        vTaskDelay( xDelay );

        /* Update the lErrorInTask flag. */
        prvMainCheckOtherTasksAreStillRunning();

        if( lErrorInTask )
        {
            /* An error has been found so reduce the delay period and in so
             * doing speed up the flash rate of the on board LED. */
            xDelay = mainERROR_DELAY;
        }

        prvToggleOnBoardLED();
    }
}