text: /*
   * FreeRTOS V202112.00
   * 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://aws.amazon.com/freertos
   *
   */
  
  /******************************************************************************
   * This project provides two demo applications.  A simple blinky style project,
   * and a more comprehensive test and demo application.  The
   * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is used to select between the two.
   * The simply blinky demo is implemented and described in main_blinky.c.  The
   * more comprehensive test and demo application is implemented and described in
   * main_full.c.
   *
   * This file implements the code that is not demo specific, including the
   * hardware setup and FreeRTOS hook functions.
   *
   *******************************************************************************
   * NOTE: Windows will not be running the FreeRTOS demo threads continuously, so
   * do not expect to get real time behaviour from the FreeRTOS Windows port, or
   * this demo application.  Also, the timing information in the FreeRTOS+Trace
   * logs have no meaningful units.  See the documentation page for the Windows
   * port for further information:
   * https://www.FreeRTOS.org/FreeRTOS-Windows-Simulator-Emulator-for-Visual-Studio-and-Eclipse-MingW.html
   *
  
   *
   *******************************************************************************
   */
  
  /* Standard includes. */
  #include <stdio.h>
  #include <stdlib.h>
  #include <conio.h>
  
  /* FreeRTOS kernel includes. */
  #include "FreeRTOS.h"
  #include "task.h"
  
  /* This project provides two demo applications.  A simple blinky style demo
  application, and a more comprehensive test and demo application.  The
  mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is used to select between the two.
  
  If mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is 1 then the blinky demo will be built.
  The blinky demo is implemented and described in main_blinky.c.
  
  If mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is not 1 then the comprehensive test and
  demo application will be built.  The comprehensive test and demo application is
  implemented and described in main_full.c. */
  #define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY	0
  
  /* This demo uses heap_5.c, and these constants define the sizes of the regions
  that make up the total heap.  heap_5 is only used for test and example purposes
  as this demo could easily create one large heap region instead of multiple
  smaller heap regions - in which case heap_4.c would be the more appropriate
  choice.  See http://www.freertos.org/a00111.html for an explanation. */
  #define mainREGION_1_SIZE	10801
  #define mainREGION_2_SIZE	29905
  #define mainREGION_3_SIZE	6007
  
  /*-----------------------------------------------------------*/
  
  /*
   * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
   * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
   */
  extern void main_blinky( void );
  extern void main_full( void );
  
  /*
   * Only the comprehensive demo uses application hook (callback) functions.  See
   * https://www.FreeRTOS.org/a00016.html for more information.
   */
  void vFullDemoTickHookFunction( void );
  void vFullDemoIdleFunction( void );
  
  /*
   * This demo uses heap_5.c, so start by defining some heap regions.  It is not
   * necessary for this demo to use heap_5, as it could define one large heap
   * region.  Heap_5 is only used for test and example purposes.  See
   * https://www.FreeRTOS.org/a00111.html for an explanation.
   */
  static void  prvInitialiseHeap( void );
  
  /*
   * Performs a few sanity checks on the behaviour of the vPortGetHeapStats()
   * function.
   */
  static void prvExerciseHeapStats( void );
  
  /*
   * Prototypes for the standard FreeRTOS application hook (callback) functions
   * implemented within this file.  See http://www.freertos.org/a00016.html .
   */
  void vApplicationMallocFailedHook( void );
  void vApplicationIdleHook( void );
  void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
  void vApplicationTickHook( void );
  void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize );
  void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
  
  /*
   * Writes trace data to a disk file when the trace recording is stopped.
   * This function will simply overwrite any trace files that already exist.
   */
  static void prvSaveTraceFile( void );
  
  /*-----------------------------------------------------------*/
  
  /* When configSUPPORT_STATIC_ALLOCATION is set to 1 the application writer can
  use a callback function to optionally provide the memory required by the idle
  and timer tasks.  This is the stack that will be used by the timer task.  It is
  declared here, as a global, so it can be checked by a test that is implemented
  in a different file. */
  StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];
  
  /* Notes if the trace is running or not. */
  static BaseType_t xTraceRunning = pdTRUE;
  
  /*-----------------------------------------------------------*/
  
  int main( void )
  {
  	/* This demo uses heap_5.c, so start by defining some heap regions.  heap_5
  	is only used for test and example reasons.  Heap_4 is more appropriate.  See
  	http://www.freertos.org/a00111.html for an explanation. */
  	prvInitialiseHeap();
  
  	/* Do not include trace code when performing a code coverage analysis. */
  	#if( projCOVERAGE_TEST != 1 )
  	{
  		/* Initialise the trace recorder.  Use of the trace recorder is optional.
  		See http://www.FreeRTOS.org/trace for more information. */
  		vTraceEnable( TRC_START );
  
  		/* Start the trace recording - the recording is written to a file if
  		configASSERT() is called. */
  		printf( "\r\nTrace started.\r\nThe trace will be dumped to disk if a call to configASSERT() fails.\r\n" );
  		printf( "Uncomment the call to kbhit() in this file to also dump trace with a key press.\r\n" );
  		uiTraceStart();
  	}
  	#endif
  
  	/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
  	of this file. */
  	#if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
  	{
  		main_blinky();
  	}
  	#else
  	{
  		main_full();
  	}
  	#endif
  
  	return 0;
  }
  /*-----------------------------------------------------------*/
  
  void vApplicationMallocFailedHook( void )
  {
  	/* vApplicationMallocFailedHook() will only be called if
  	configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h.  It is a hook
  	function that will get called if a call to pvPortMalloc() fails.
  	pvPortMalloc() is called internally by the kernel whenever a task, queue,
  	timer or semaphore is created.  It is also called by various parts of the
  	demo application.  If heap_1.c, heap_2.c or heap_4.c is being used, then the
  	size of the	heap available to pvPortMalloc() is defined by
  	configTOTAL_HEAP_SIZE in FreeRTOSConfig.h, and the xPortGetFreeHeapSize()
  	API function can be used to query the size of free heap space that remains
  	(although it does not provide information on how the remaining heap might be
  	fragmented).  See http://www.freertos.org/a00111.html for more
  	information. */
  	vAssertCalled( __LINE__, __FILE__ );
  }
  /*-----------------------------------------------------------*/
  
  void vApplicationIdleHook( void )
  {
  	/* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
  	to 1 in FreeRTOSConfig.h.  It will be called on each iteration of the idle
  	task.  It is essential that code added to this hook function never attempts
  	to block in any way (for example, call xQueueReceive() with a block time
  	specified, or call vTaskDelay()).  If application tasks make use of the
  	vTaskDelete() API function to delete themselves then it is also important
  	that vApplicationIdleHook() is permitted to return to its calling function,
  	because it is the responsibility of the idle task to clean up memory
  	allocated by the kernel to any task that has since deleted itself. */
  
  	/* Uncomment the following code to allow the trace to be stopped with any
  	key press.  The code is commented out by default as the kbhit() function
  	interferes with the run time behaviour. */
  	/*
  		if( _kbhit() != pdFALSE )
  		{
  			if( xTraceRunning == pdTRUE )
  			{
  				vTraceStop();
  				prvSaveTraceFile();
  				xTraceRunning = pdFALSE;
  			}
  		}
  	*/
  
  	#if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 )
  	{
  		/* Call the idle task processing used by the full demo.  The simple
  		blinky demo does not use the idle task hook. */
  		vFullDemoIdleFunction();
  	}
  	#endif
  }
  /*-----------------------------------------------------------*/
  
  void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
  {
  	( void ) pcTaskName;
  	( void ) pxTask;
  
  	/* Run time stack overflow checking is performed if
  	configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
  	function is called if a stack overflow is detected.  This function is
  	provided as an example only as stack overflow checking does not function
  	when running the FreeRTOS Windows port. */
  	vAssertCalled( __LINE__, __FILE__ );
  }
  /*-----------------------------------------------------------*/
  
  void vApplicationTickHook( void )
  {
  	/* This function will be called by each tick interrupt if
  	configUSE_TICK_HOOK is set to 1 in FreeRTOSConfig.h.  User code can be
  	added here, but the tick hook is called from an interrupt context, so
  	code must not attempt to block, and only the interrupt safe FreeRTOS API
  	functions can be used (those that end in FromISR()). */
  
  	#if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 )
  	{
  		vFullDemoTickHookFunction();
  	}
  	#endif /* mainCREATE_SIMPLE_BLINKY_DEMO_ONLY */
  }
  /*-----------------------------------------------------------*/
  
  void vApplicationDaemonTaskStartupHook( void )
  {
  	/* This function will be called once only, when the daemon task starts to
  	execute	(sometimes called the timer task).  This is useful if the
  	application includes initialisation code that would benefit from executing
  	after the scheduler has been started. */
  }
  /*-----------------------------------------------------------*/
  
  void vAssertCalled( unsigned long ulLine, const char * const pcFileName )
  {
  static BaseType_t xPrinted = pdFALSE;
  volatile uint32_t ulSetToNonZeroInDebuggerToContinue = 0;
  
  	/* Called if an assertion passed to configASSERT() fails.  See
  	http://www.freertos.org/a00110.html#configASSERT for more information. */
  
  	/* Parameters are not used. */
  	( void ) ulLine;
  	( void ) pcFileName;
  
  
   	taskENTER_CRITICAL();
  	{
  		/* Stop the trace recording. */
  		if( xPrinted == pdFALSE )
  		{
  			xPrinted = pdTRUE;
  			if( xTraceRunning == pdTRUE )
  			{
  				prvSaveTraceFile();
  			}
  		}
  
  		/* You can step out of this function to debug the assertion by using
  		the debugger to set ulSetToNonZeroInDebuggerToContinue to a non-zero
  		value. */
  		while( ulSetToNonZeroInDebuggerToContinue == 0 )
  		{
  			__asm volatile( "NOP" );
  			__asm volatile( "NOP" );
  		}
  	}
  	taskEXIT_CRITICAL();
  }
  /*-----------------------------------------------------------*/
  
  static void prvSaveTraceFile( void )
  {
  	/* Tracing is not used when code coverage analysis is being performed. */
  	#if( projCOVERAGE_TEST != 1 )
  	{
  		FILE* pxOutputFile;
  
  		vTraceStop();
  
  		pxOutputFile = fopen( "Trace.dump", "wb");
  
  		if( pxOutputFile != NULL )
  		{
  			fwrite( RecorderDataPtr, sizeof( RecorderDataType ), 1, pxOutputFile );
  			fclose( pxOutputFile );
  			printf( "\r\nTrace output saved to Trace.dump\r\n" );
  		}
  		else
  		{
  			printf( "\r\nFailed to create trace dump file\r\n" );
  		}
  	}
  	#endif
  }
  /*-----------------------------------------------------------*/
  
  static void  prvInitialiseHeap( void )
  {
  /* The Windows demo could create one large heap region, in which case it would
  be appropriate to use heap_4.  However, purely for demonstration purposes,
  heap_5 is used instead, so start by defining some heap regions.  No
  initialisation is required when any other heap implementation is used.  See
  http://www.freertos.org/a00111.html for more information.
  
  The xHeapRegions structure requires the regions to be defined in start address
  order, so this just creates one big array, then populates the structure with
  offsets into the array - with gaps in between and messy alignment just for test
  purposes. */
  static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
  volatile uint32_t ulAdditionalOffset = 19; /* Just to prevent 'condition is always true' warnings in configASSERT(). */
  HeapStats_t xHeapStats;
  const HeapRegion_t xHeapRegions[] =
  {
  	/* Start address with dummy offsets						Size */
  	{ ucHeap + 1,											mainREGION_1_SIZE },
  	{ ucHeap + 15 + mainREGION_1_SIZE,						mainREGION_2_SIZE },
  	{ ucHeap + 19 + mainREGION_1_SIZE + mainREGION_2_SIZE,	mainREGION_3_SIZE },
  	{ NULL, 0 }
  };
  
  	/* Sanity check that the sizes and offsets defined actually fit into the
  	array. */
  	configASSERT( ( ulAdditionalOffset + mainREGION_1_SIZE + mainREGION_2_SIZE + mainREGION_3_SIZE ) < configTOTAL_HEAP_SIZE );
  
  	/* Prevent compiler warnings when configASSERT() is not defined. */
  	( void ) ulAdditionalOffset;
  
  	/* The heap has not been initialised yet so expect stats to all be zero. */
  	vPortGetHeapStats( &xHeapStats );
  
  	vPortDefineHeapRegions( xHeapRegions );
  
  	/* Sanity check vTaskGetHeapStats(). */
  	prvExerciseHeapStats();
  }
  /*-----------------------------------------------------------*/
  
  static void prvExerciseHeapStats( void )
  {
  HeapStats_t xHeapStats;
  size_t xInitialFreeSpace = xPortGetFreeHeapSize(), xMinimumFreeBytes;
  size_t xMetaDataOverhead, i;
  void *pvAllocatedBlock;
  const size_t xArraySize = 5, xBlockSize = 1000UL;
  void *pvAllocatedBlocks[ xArraySize ];
  
  	/* Check heap stats are as expected after initialisation but before any
  	allocations. */
  	vPortGetHeapStats( &xHeapStats );
  
  	/* Minimum ever free bytes remaining should be the same as the total number
  	of bytes as nothing has been allocated yet. */
  	configASSERT( xHeapStats.xMinimumEverFreeBytesRemaining == xHeapStats.xAvailableHeapSpaceInBytes );
  	configASSERT( xHeapStats.xMinimumEverFreeBytesRemaining == xInitialFreeSpace );
  
  	/* Nothing has been allocated or freed yet. */
  	configASSERT( xHeapStats.xNumberOfSuccessfulAllocations == 0 );
  	configASSERT( xHeapStats.xNumberOfSuccessfulFrees == 0 );
  
  	/* Allocate a 1000 byte block then measure what the overhead of the
  	allocation in regards to how many bytes more than 1000 were actually
  	removed from the heap in order to store metadata about the allocation. */
  	pvAllocatedBlock = pvPortMalloc( xBlockSize );
  	configASSERT( pvAllocatedBlock );
  	xMetaDataOverhead = ( xInitialFreeSpace - xPortGetFreeHeapSize() ) - xBlockSize;
  
  	/* Free the block again to get back to where we started. */
  	vPortFree( pvAllocatedBlock );
  	vPortGetHeapStats( &xHeapStats );
  	configASSERT( xHeapStats.xAvailableHeapSpaceInBytes == xInitialFreeSpace );
  	configASSERT( xHeapStats.xNumberOfSuccessfulAllocations == 1 );
  	configASSERT( xHeapStats.xNumberOfSuccessfulFrees == 1 );
  
  	/* Allocate blocks checking some stats value on each allocation. */
  	for( i = 0; i < xArraySize; i++ )
  	{
  		pvAllocatedBlocks[ i ] = pvPortMalloc( xBlockSize );
  		configASSERT( pvAllocatedBlocks[ i ] );
  		vPortGetHeapStats( &xHeapStats );
  		configASSERT( xHeapStats.xMinimumEverFreeBytesRemaining == ( xInitialFreeSpace - ( ( i + 1 ) * ( xBlockSize + xMetaDataOverhead ) ) ) );
  		configASSERT( xHeapStats.xMinimumEverFreeBytesRemaining == xHeapStats.xAvailableHeapSpaceInBytes );
  		configASSERT( xHeapStats.xNumberOfSuccessfulAllocations == ( 2Ul + i ) );
  		configASSERT( xHeapStats.xNumberOfSuccessfulFrees == 1 ); /* Does not increase during allocations. */
  	}
  
  	configASSERT( xPortGetFreeHeapSize() == xPortGetMinimumEverFreeHeapSize() );
  	xMinimumFreeBytes = xPortGetFreeHeapSize();
  
  	/* Free the blocks again. */
  	for( i = 0; i < xArraySize; i++ )
  	{
  		vPortFree( pvAllocatedBlocks[ i ] );
  		vPortGetHeapStats( &xHeapStats );
  		configASSERT( xHeapStats.xAvailableHeapSpaceInBytes == ( xInitialFreeSpace - ( ( ( xArraySize - i - 1 ) * ( xBlockSize + xMetaDataOverhead ) ) ) ) );
  		configASSERT( xHeapStats.xNumberOfSuccessfulAllocations == ( xArraySize + 1 ) ); /* Does not increase during frees. */
  		configASSERT( xHeapStats.xNumberOfSuccessfulFrees == ( 2UL + i ) );
  	}
  
  	/* The minimum ever free heap size should not change as blocks are freed. */
  	configASSERT( xMinimumFreeBytes == xPortGetMinimumEverFreeHeapSize() );
  }
  /*-----------------------------------------------------------*/
  
  /* configUSE_STATIC_ALLOCATION is set to 1, so the application must provide an
  implementation of vApplicationGetIdleTaskMemory() to provide the memory that is
  used by the Idle task. */
  void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize )
  {
  /* If the buffers to be provided to the Idle task are declared inside this
  function then they must be declared static - otherwise they will be allocated on
  the stack and so not exists after this function exits. */
  static StaticTask_t xIdleTaskTCB;
  static StackType_t uxIdleTaskStack[ configMINIMAL_STACK_SIZE ];
  
  	/* Pass out a pointer to the StaticTask_t structure in which the Idle task's
  	state will be stored. */
  	*ppxIdleTaskTCBBuffer = &xIdleTaskTCB;
  
  	/* Pass out the array that will be used as the Idle task's stack. */
  	*ppxIdleTaskStackBuffer = uxIdleTaskStack;
  
  	/* Pass out the size of the array pointed to by *ppxIdleTaskStackBuffer.
  	Note that, as the array is necessarily of type StackType_t,
  	configMINIMAL_STACK_SIZE is specified in words, not bytes. */
  	*pulIdleTaskStackSize = configMINIMAL_STACK_SIZE;
  }
  /*-----------------------------------------------------------*/
  
  /* configUSE_STATIC_ALLOCATION and configUSE_TIMERS are both set to 1, so the
  application must provide an implementation of vApplicationGetTimerTaskMemory()
  to provide the memory that is used by the Timer service task. */
  void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize )
  {
  /* If the buffers to be provided to the Timer task are declared inside this
  function then they must be declared static - otherwise they will be allocated on
  the stack and so not exists after this function exits. */
  static StaticTask_t xTimerTaskTCB;
  
  	/* Pass out a pointer to the StaticTask_t structure in which the Timer
  	task's state will be stored. */
  	*ppxTimerTaskTCBBuffer = &xTimerTaskTCB;
  
  	/* Pass out the array that will be used as the Timer task's stack. */
  	*ppxTimerTaskStackBuffer = uxTimerTaskStack;
  
  	/* Pass out the size of the array pointed to by *ppxTimerTaskStackBuffer.
  	Note that, as the array is necessarily of type StackType_t,
  	configMINIMAL_STACK_SIZE is specified in words, not bytes. */
  	*pulTimerTaskStackSize = configTIMER_TASK_STACK_DEPTH;
  }
  
  