/*
 * 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.
 *
 * 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.
 *
 * To check the operation of the memory allocator the check task also
 * dynamically creates a task before delaying, and deletes it again when it
 * wakes.  If memory cannot be allocated for the new task the call to xTaskCreate
 * will fail and an error is signalled.  The dynamically created task itself
 * allocates and frees memory just to give the allocator a bit more exercise.
 *
 */

/* Standard includes. */
#include <stdlib.h>
#include <string.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"
#include "flop.h"
#include "dynamic.h"
#include "BlockQ.h"
#include "serial.h"

/* Hardware specific definitions. */
#include "aic.h"
#include "ebi.h"

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

/* Constants for the ComTest tasks. */
#define mainCOM_TEST_BAUD_RATE       ( ( unsigned long ) 115200 )
#define mainCOM_TEST_LED             ( 5 )

/* 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 )

/* The rate at which the on board LED will toggle when there is/is not an
 * error. */
#define mainNO_ERROR_FLASH_PERIOD    ( ( TickType_t ) 3000 / portTICK_PERIOD_MS )
#define mainERROR_FLASH_PERIOD       ( ( TickType_t ) 500 / portTICK_PERIOD_MS )
#define mainON_BOARD_LED_BIT         ( ( unsigned long ) 7 )

/* 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 )

#define MAX_WAIT_STATES              8
static const unsigned long ululCSRWaitValues[ MAX_WAIT_STATES + 1 ] =
{
    WaitState1, /* There is no "zero wait state" value, so use one wait state */
    WaitState1,
    WaitState2,
    WaitState3,
    WaitState4,
    WaitState5,
    WaitState6,
    WaitState7,
    WaitState8
};
/*-----------------------------------------------------------*/

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

/*
 * 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 );

/*
 * Dynamically created and deleted during each cycle of the vErrorChecks()
 * task.  This is done to check the operation of the memory allocator.
 * See the top of vErrorChecks for more details.
 */
static void vMemCheckTask( void * pvParameters );

/*
 * Configure the processor for use with the Olimex demo board.  This includes
 * setup for the I/O, system clock, and access timings.
 */
static void prvSetupHardware( void );

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

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

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

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

static void vErrorChecks( void * pvParameters )
{
    TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
    unsigned long ulMemCheckTaskRunningCount;
    TaskHandle_t xCreatedTask;

    /* Just to stop compiler warnings. */
    ( 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.
     *
     * In addition to the standard tests the memory allocator is tested through
     * the dynamic creation and deletion of a task each cycle.  Each time the
     * task is created memory must be allocated for its stack.  When the task is
     * deleted this memory is returned to the heap.  If the task cannot be created
     * then it is likely that the memory allocation failed. */

    for( ; ; )
    {
        /* Reset xCreatedTask.  This is modified by the task about to be
        * created so we can tell if it is executing correctly or not. */
        xCreatedTask = mainNO_TASK;

        /* Dynamically create a task - passing ulMemCheckTaskRunningCount as a
         * parameter. */
        ulMemCheckTaskRunningCount = mainCOUNT_INITIAL_VALUE;

        if( xTaskCreate( vMemCheckTask, "MEM_CHECK", configMINIMAL_STACK_SIZE, ( void * ) &ulMemCheckTaskRunningCount, tskIDLE_PRIORITY, &xCreatedTask ) != pdPASS )
        {
            /* Could not create the task - we have probably run out of heap. */
            xDelayPeriod = mainERROR_FLASH_PERIOD;
        }

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

        /* Delete the dynamically created task. */
        if( xCreatedTask != mainNO_TASK )
        {
            vTaskDelete( xCreatedTask );
        }

        /* Check all the standard demo application tasks are executing without
         * error.  ulMemCheckTaskRunningCount is checked to ensure it was
         * modified by the task just deleted. */
        if( prvCheckOtherTasksAreStillRunning( ulMemCheckTaskRunningCount ) != pdPASS )
        {
            /* An error has been detected in one of the tasks - flash faster. */
            xDelayPeriod = mainERROR_FLASH_PERIOD;
        }

        /* The toggle rate of the LED depends on how long this task delays for.
         * An error reduces the delay period and so increases the toggle rate. */
        vParTestToggleLED( mainON_BOARD_LED_BIT );
    }
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
    long lCount;

    #ifdef RUN_FROM_ROM
    {
        portFLOAT nsecsPerClockTick;
        long lNumWaitStates;
        unsigned long ulCSRWaitValue;

        /* We are compiling to run from ROM (either on-chip or off-chip flash).
         * Leave the RAM/flash mapped the way they are on reset
         * (flash @ 0x00000000, RAM @ 0x00300000), and set up the
         * proper flash wait states (starts out at the maximum number
         * of wait states on reset, so we should be able to reduce it).
         * Most of this code will probably get removed by the compiler
         * if optimization is enabled, since these calculations are
         * based on constants.  But the compiler should still produce
         * a correct wait state register value. */
        nsecsPerClockTick = ( portFLOAT ) 1000000000 / configCPU_CLOCK_HZ;
        lNumWaitStates = ( long ) ( ( configFLASH_SPEED_NSEC / nsecsPerClockTick ) + 0.5 ) - 1;

        if( lNumWaitStates < 0 )
        {
            lNumWaitStates = 0;
        }

        if( lNumWaitStates > MAX_WAIT_STATES )
        {
            lNumWaitStates = MAX_WAIT_STATES;
        }

        ulCSRWaitValue = ululCSRWaitValues[ lNumWaitStates ];
        ulCSRWaitValue = WaitState5;

        AT91C_BASE_EBI->EBI_CSR[ 0 ] = ulCSRWaitValue | DataBus16 | WaitStateEnable
                                       | PageSize1M | tDF_0cycle
                                       | ByteWriteAccessType | CSEnable
                                       | 0x00000000 /* Base Address */;
    }
    #else /* else we are compiling to run from on-chip RAM */
    {
        /* If compiling to run from RAM, we expect the on-chip RAM to already
         * be mapped at 0x00000000.  This is typically done with an initialization
         * script for the JTAG emulator you are using to download and run the
         * demo application. So there is nothing to do here in this case. */
    }
    #endif /* ifdef RUN_FROM_ROM */

    /* Disable all interrupts at the AIC level initially... */
    AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;

    /* Set all SVR and SMR entries to default values (start with a clean slate)... */
    for( lCount = 0; lCount < 32; lCount++ )
    {
        AT91C_BASE_AIC->AIC_SVR[ lCount ] = ( unsigned long ) 0;
        AT91C_BASE_AIC->AIC_SMR[ lCount ] = AIC_SRCTYPE_INT_EDGE_TRIGGERED;
    }

    /* Disable clocks to all peripherals initially... */
    AT91C_BASE_PS->PS_PCDR = 0xFFFFFFFF;

    /* Clear all interrupts at the AIC level initially... */
    AT91C_BASE_AIC->AIC_ICCR = 0xFFFFFFFF;

    /* Perform 8 "End Of Interrupt" cmds to make sure AIC will not Lock out
     * nIRQ */
    for( lCount = 0; lCount < 8; lCount++ )
    {
        AT91C_BASE_AIC->AIC_EOICR = 0;
    }

    /* Initialise LED outputs. */
    vParTestInitialise();
}
/*-----------------------------------------------------------*/

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

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

    if( xAreMathsTaskStillRunning() != 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 )++;
        }
        else
        {
            /* There has been an error so reset the counter so the check task
             * can tell that an error occurred. */
            *pulMemCheckTaskRunningCounter = mainCOUNT_INITIAL_VALUE;
        }

        /* 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();
    }
}