/*
	FreeRTOS.org V5.1.1 - Copyright (C) 2003-2008 Richard Barry.

	This file is part of the FreeRTOS.org distribution.

	FreeRTOS.org 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.org 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.org; 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.org, 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.

    ***************************************************************************
    ***************************************************************************
    *                                                                         *
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    * and even write all or part of your application on your behalf.          *
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	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.

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*/

/*
 * Creates all the demo application tasks, then starts the scheduler.  The WEB
 * documentation provides more details of the standard demo application tasks.
 * In addition to the standard demo tasks, the following tasks and tests are
 * defined and/or created within this file:
 *
 * "Check" task -  This only executes every three seconds but has a high priority
 * to ensure it gets processor time.  Its main function is to check that all the
 * standard demo tasks are still operational.  If everything is running as
 * expected then the check task will toggle an LED every 3 seconds.  An error
 * being discovered in any task will cause the toggle rate to increase to 500ms.
 *
 * "Reg test" tasks - These fill the registers with known values, then check
 * that each register still contains its expected value.  Each task uses
 * different values.  The tasks run with very low priority so get preempted very
 * frequently.  A register containing an unexpected value is indicative of an
 * error in the context switching mechanism.
 *
 */

/* Standard include files. */
#include <stdlib.h>
#include <string.h>

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

/* Demo file headers. */
#include <intrinsics.h>
#include "BlockQ.h"
#include "death.h"
#include "flash.h"
#include "partest.h"
#include "semtest.h"
#include "PollQ.h"
#include "GenQTest.h"
#include "QPeek.h"
#include "recmutex.h"
#include "comtest2.h"

/*
 * Priority definitions for most of the tasks in the demo application.  Some
 * tasks just use the idle priority.
 */
#define mainFLASH_PRIORITY					( tskIDLE_PRIORITY + 1 )
#define mainQUEUE_POLL_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCHECK_TASK_PRIORITY				( tskIDLE_PRIORITY + 3 )
#define mainSEM_TEST_PRIORITY				( tskIDLE_PRIORITY + 1 )
#define mainBLOCK_Q_PRIORITY				( tskIDLE_PRIORITY + 2 )
#define mainCREATOR_TASK_PRIORITY           ( tskIDLE_PRIORITY + 2 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )
#define mainCOMTEST_PRIORITY				( tskIDLE_PRIORITY + 1 )

/* Passed into the check task just as a test that the parameter passing
mechanism is working correctly. */
#define mainCHECK_PARAMETER					( ( void * ) 0x12345678 )

/* The period between executions of the check task. */
#define mainNO_ERROR_DELAY		( ( portTickType ) 3000 / portTICK_RATE_MS  )
#define mainERROR_DELAY			( ( portTickType ) 500 / portTICK_RATE_MS )

/* The LEDs used by the demos. */
#define mainCHECK_TASK_LED		( 3 )
#define mainCOMTEST_LED			( 5 )

/* The baud rate used by the comtest task. */
#define mainBAUD_RATE			( 9600 )

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

/* The implementation of the 'check' task as described at the top of this file. */
static void prvCheckTask( void *pvParameters );

/* Called by the startup code to initialise the run time system. */
unsigned portCHAR __low_level_init(void);

/* Just sets up the LED outputs.  Most generic setup is done in 
__low_level_init(). */
static void prvSetupHardware( void );

/* The RegTest functions as described at the top of this file. */
extern void vRegTest1( void *pvParameters );
extern void vRegTest2( void *pvParameters );

/* A variable that will get set to fail if a RegTest task finds an error.  The
variable is inspected by the 'Check' task. */
static volatile portLONG lRegTestStatus = pdPASS;

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

/* Create all the demo tasks then start the scheduler. */
void main( void )
{
	/* Just sets up the LED outputs. */
	prvSetupHardware();

	/* Standard demo tasks. */
	vStartLEDFlashTasks( mainFLASH_PRIORITY );
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartQueuePeekTasks();
	vStartRecursiveMutexTasks();
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vAltStartComTestTasks( mainCOMTEST_PRIORITY, mainBAUD_RATE, mainCOMTEST_LED );

	/* Create the check task as described at the top of this file. */
	xTaskCreate( prvCheckTask, "Check", configMINIMAL_STACK_SIZE, mainCHECK_PARAMETER, mainCHECK_TASK_PRIORITY, NULL );

	/* Create the RegTest tasks as described at the top of this file. */
	xTaskCreate( vRegTest1, "Reg1", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vRegTest2, "Reg2", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );

	/* The suicide tasks must be created last as they need to know how many
	tasks were running prior to their creation in order to ascertain whether
	or not the correct/expected number of tasks are running at any given time. */
    vCreateSuicidalTasks( mainCREATOR_TASK_PRIORITY );
	
	/* Start the scheduler. */
	vTaskStartScheduler();

	/* If this line is reached then vTaskStartScheduler() returned because there
	was insufficient heap memory remaining for the idle task to be created. */
	for( ;; );
}
/*-----------------------------------------------------------*/

static void prvCheckTask( void *pvParameters )
{
portTickType xDelayPeriod = mainNO_ERROR_DELAY, xLastWakeTime;

	/* Ensure parameter is passed in correctly. */
	if( pvParameters != mainCHECK_PARAMETER )
	{
		xDelayPeriod = mainERROR_DELAY;
	}

	/* Initialise xLastWakeTime before it is used.  After this point it is not
	written to directly. */
	xLastWakeTime = xTaskGetTickCount();
	
	/* Cycle for ever, delaying then checking all the other tasks are still
	operating without error. */
	for( ;; )
	{
		vTaskDelayUntil( &xLastWakeTime, xDelayPeriod );
		
		if( lRegTestStatus != pdPASS )
		{
			xDelayPeriod = mainERROR_DELAY;
		}
		
		if( xAreGenericQueueTasksStillRunning() != pdTRUE )
		{
			xDelayPeriod = mainERROR_DELAY;
		}

		if( xAreQueuePeekTasksStillRunning() != pdTRUE )
		{
			xDelayPeriod = mainERROR_DELAY;
		}

		if( xAreBlockingQueuesStillRunning() != pdTRUE )
		{
			xDelayPeriod = mainERROR_DELAY;
		}

		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
	    {
	    	xDelayPeriod = mainERROR_DELAY;
	    }

		if( xArePollingQueuesStillRunning() != pdTRUE )
	    {
	    	xDelayPeriod = mainERROR_DELAY;
	    }

		if( xIsCreateTaskStillRunning() != pdTRUE )
	    {
	    	xDelayPeriod = mainERROR_DELAY;
	    }

		if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
	    {
	    	xDelayPeriod = mainERROR_DELAY;
	    }
		
		if( xAreComTestTasksStillRunning() != pdTRUE )
		{
			xDelayPeriod = mainERROR_DELAY;
		}

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

unsigned portCHAR __low_level_init(void)
{
unsigned portCHAR resetflag = RESF;
unsigned portCHAR psval = 0;

	/* Setup provided by NEC. */

	/* Disable global interrupts to ensure no interrupts occur during system
	setup. */
	portDISABLE_INTERRUPTS();

	PRCMD = 0x00;
	OCDM = 0x00;
	VSWC = 0x12;
	VSWC = 18;

	/* Set main system clock */
	OSTS = 0x06;
	psval = 0x80;
	PRCMD = psval;
	PCC = psval;
	while (!OSTC)
	{
		;
	}

	PLLS = 0x03;
	PLLON = 1;
	while (LOCKR)
	{
		;
	}

	psval = 0x01;
	PRCMD = psval;
	MCM = psval;
	SELPLL = 1;

	/* Set fCPU */
	psval = PCC | 0x00;
	PRCMD = psval;
	PCC = psval;
	RCM = 0x83;

	/* Set fXP1 */
	SELCNT4 = 0x00;

	/* Set fBRG */
	PRSM0 = 0x00;

	/* Stand-by setting */
	psval = 0x00;
	PRCMD = psval;
	PSC = psval;

	/* WDT2 setting */
	WDTM2 = 0x1F;

	/* PCL setting */
	PCLM = 0x00;

	/* disable dma0 - dma3 */
	E00 = 0;	
	E11 = 0;
	E22 = 0;
	E33 = 0;	

	return pdTRUE;
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
	/* Setup the LED outputs. */
	vParTestInitialise();

	/* Any additional hardware configuration can be added here. */
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( void )
{
	/* This will be called if a task overflows its stack.  pxCurrentTCB
	can be inspected to see which is the offending task. */
	for( ;; );
}
/*-----------------------------------------------------------*/

void vRegTestFailed( void )
{
	/* Called by the RegTest tasks if an error is found.  lRegTestStatus is
	inspected by the check task. */
	lRegTestStatus = pdFAIL;
	
	/* Do not return from here as the reg test tasks clobber all registers so
	function calls may not function correctly. */
	for( ;; );
}