/*
 * FreeRTOS Kernel V10.0.1
 * Copyright (C) 2017 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.
 *
 * http://www.FreeRTOS.org
 * http://aws.amazon.com/freertos
 *
 * 1 tab == 4 spaces!
 */

#include <device.h>

/* RTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"
#include "semphr.h"

/* Common Demo includes. */
#include "serial.h"
#include "BlockQ.h"
#include "blocktim.h"
#include "comtest.h"
#include "countsem.h"
#include "death.h"
#include "dynamic.h"
#include "flash.h"
#include "flop.h"
#include "GenQTest.h"
#include "integer.h"
#include "IntQueue.h"
#include "mevents.h"
#include "partest.h"
#include "PollQ.h"
#include "print.h"
#include "QPeek.h"
#include "semtest.h"
/*---------------------------------------------------------------------------*/

/* The time between cycles of the 'check' functionality (defined within the
tick hook. */
#define mainCHECK_DELAY						( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
#define mainCOM_LED							( 3 )

/* The number of nano seconds between each processor clock. */
#define mainNS_PER_CLOCK ( ( unsigned long ) ( ( 1.0 / ( double ) configCPU_CLOCK_HZ ) * 1000000000.0 ) )

/* Task priorities. */
#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 + 3 )
#define mainINTEGER_TASK_PRIORITY           ( tskIDLE_PRIORITY )
#define mainGEN_QUEUE_TASK_PRIORITY			( tskIDLE_PRIORITY )
#define mainCOM_TEST_TASK_PRIORITY			( tskIDLE_PRIORITY + 1 )
#define mainFLASH_TEST_TASK_PRIORITY		( tskIDLE_PRIORITY + 2 )
/*---------------------------------------------------------------------------*/

/*
 * Configures the timers and interrupts for the fast interrupt test as
 * described at the top of this file.
 */
extern void vSetupTimerTest( void );
/*---------------------------------------------------------------------------*/

/*
 * The Check task periodical interrogates each of the running tests to
 * ensure that they are still executing correctly.
 * If all the tests pass, then the LCD is updated with Pass, the number of
 * iterations and the Jitter time calculated but the Fast Interrupt Test.
 * If any one of the tests fail, it is indicated with an error code printed on
 * the display. This indicator won't disappear until the device is reset.
 */
void vCheckTask( void *pvParameters );

/*
 * Installs the RTOS interrupt handlers and starts the peripherals.
 */
static void prvHardwareSetup( void );
/*---------------------------------------------------------------------------*/

void main( void )
{
    /* Place your initialization/startup code here (e.g. MyInst_Start()) */
	prvHardwareSetup();

	/* Start the standard demo tasks.  These are just here to exercise the
	kernel port and provide examples of how the FreeRTOS API can be used. */
	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
	vCreateBlockTimeTasks();
	vStartCountingSemaphoreTasks();
	vStartDynamicPriorityTasks();
	vStartMathTasks( mainINTEGER_TASK_PRIORITY );
	vStartGenericQueueTasks( mainGEN_QUEUE_TASK_PRIORITY );
	vStartIntegerMathTasks( mainINTEGER_TASK_PRIORITY );
	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
	vStartQueuePeekTasks();
	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
	vStartLEDFlashTasks( mainFLASH_TEST_TASK_PRIORITY );
	vAltStartComTestTasks( mainCOM_TEST_TASK_PRIORITY, 57600, mainCOM_LED );
	vStartInterruptQueueTasks();

	/* Start the error checking task. */
  	( void ) xTaskCreate( vCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );

	/* Configure the timers used by the fast interrupt timer test. */
	vSetupTimerTest();

	/* 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 );

	/* Will only get here if there was insufficient memory to create the idle
    task.  The idle task is created within vTaskStartScheduler(). */
	vTaskStartScheduler();

	/* Should never reach here as the kernel will now be running.  If
	vTaskStartScheduler() does return then it is very likely that there was
	insufficient (FreeRTOS) heap space available to create all the tasks,
	including the idle task that is created within vTaskStartScheduler() itself. */
	for( ;; );
}
/*---------------------------------------------------------------------------*/

void prvHardwareSetup( void )
{
/* Port layer functions that need to be copied into the vector table. */
extern void xPortPendSVHandler( void );
extern void xPortSysTickHandler( void );
extern void vPortSVCHandler( void );
extern cyisraddress CyRamVectors[];

	/* Install the OS Interrupt Handlers. */
	CyRamVectors[ 11 ] = ( cyisraddress ) vPortSVCHandler;
	CyRamVectors[ 14 ] = ( cyisraddress ) xPortPendSVHandler;
	CyRamVectors[ 15 ] = ( cyisraddress ) xPortSysTickHandler;

	/* Start-up the peripherals. */

	/* Enable and clear the LCD Display. */
	LCD_Character_Display_Start();
	LCD_Character_Display_ClearDisplay();
	LCD_Character_Display_Position( 0, 0 );
	LCD_Character_Display_PrintString( "www.FreeRTOS.org " );
	LCD_Character_Display_Position( 1, 0 );
	LCD_Character_Display_PrintString("CY8C5588AX-060  ");

	/* Start the UART. */
	UART_1_Start();

	/* Initialise the LEDs. */
	vParTestInitialise();

	/* Start the PWM modules that drive the IntQueue tests. */
	High_Frequency_PWM_0_Start();
	High_Frequency_PWM_1_Start();

	/* Start the timers for the Jitter test. */
	Timer_20KHz_Start();
	Timer_48MHz_Start();
}
/*---------------------------------------------------------------------------*/

void vCheckTask( void *pvParameters )
{
unsigned long ulRow = 0;
TickType_t xDelay = 0;
unsigned short usErrorCode = 0;
unsigned long ulIteration = 0;
extern unsigned short usMaxJitter;

	/* Intialise the sleeper. */
	xDelay = xTaskGetTickCount();

	for( ;; )
	{
		/* Perform this check every mainCHECK_DELAY milliseconds. */
		vTaskDelayUntil( &xDelay, mainCHECK_DELAY );

		/* Check that all of the Demo tasks are still running. */
		if( pdTRUE != xAreBlockingQueuesStillRunning() )
		{
			usErrorCode |= 0x1;
		}

		if( pdTRUE != xAreBlockTimeTestTasksStillRunning() )
		{
			usErrorCode |= 0x2;
		}

		if( pdTRUE != xAreCountingSemaphoreTasksStillRunning() )
		{
			usErrorCode |= 0x4;
		}

		if( pdTRUE != xIsCreateTaskStillRunning() )
		{
			usErrorCode |= 0x8;
		}

		if( pdTRUE != xAreDynamicPriorityTasksStillRunning() )
		{
			usErrorCode |= 0x10;
		}

		if( pdTRUE != xAreMathsTaskStillRunning() )
		{
			usErrorCode |= 0x20;
		}

		if( pdTRUE != xAreGenericQueueTasksStillRunning() )
		{
			usErrorCode |= 0x40;
		}

		if( pdTRUE != xAreIntegerMathsTaskStillRunning() )
		{
			usErrorCode |= 0x80;
		}

		if( pdTRUE != xArePollingQueuesStillRunning() )
		{
			usErrorCode |= 0x100;
		}

		if( pdTRUE != xAreQueuePeekTasksStillRunning() )
		{
			usErrorCode |= 0x200;
		}

		if( pdTRUE != xAreSemaphoreTasksStillRunning() )
		{
			usErrorCode |= 0x400;
		}

		if( pdTRUE != xAreComTestTasksStillRunning() )
		{
			usErrorCode |= 0x800;
		}

		if( pdTRUE != xAreIntQueueTasksStillRunning() )
		{
			usErrorCode |= 0x1000;
		}

		/* Clear the display. */
		LCD_Character_Display_ClearDisplay();
		if( 0 == usErrorCode )
		{
			LCD_Character_Display_Position( ( ulRow ) & 0x1, 0);
			LCD_Character_Display_PrintString( "Pass: " );
			LCD_Character_Display_PrintNumber( ulIteration++ );
			LCD_Character_Display_Position( ( ++ulRow ) & 0x1, 0 );
			LCD_Character_Display_PrintString( "Jitter(ns):" );
			LCD_Character_Display_PrintNumber( ( usMaxJitter * mainNS_PER_CLOCK ) );
		}
		else
		{
			/* Do something to indicate the failure. */
			LCD_Character_Display_Position( ( ulRow ) & 0x1, 0 );
			LCD_Character_Display_PrintString( "Fail at: " );
			LCD_Character_Display_PrintNumber( ulIteration );
			LCD_Character_Display_Position( ( ++ulRow ) & 0x1, 0 );
			LCD_Character_Display_PrintString( "Error: 0x" );
			LCD_Character_Display_PrintHexUint16( usErrorCode );
		}
	}
}
/*---------------------------------------------------------------------------*/

void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
	/* The stack space has been execeeded for a task, considering allocating more. */
	taskDISABLE_INTERRUPTS();
	for( ;; );
}
/*---------------------------------------------------------------------------*/

void vApplicationMallocFailedHook( void )
{
	/* The heap space has been execeeded. */
	taskDISABLE_INTERRUPTS();
	for( ;; );
}
/*---------------------------------------------------------------------------*/
