text: /*
   * FreeRTOS Kernel V10.1.1
   * Copyright (C) 2018 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!
   */
  
  /*
   * This file contains a demo created to execute on the Rowley Associates
   * LPC2138 CrossFire development board.
   *
   * main() creates all the demo application tasks, then starts the scheduler.
   * The WEB documentation provides more details of the standard demo application
   * tasks.
   *
   * Main.c also creates a task called "Check".  This only executes every few
   * seconds but has a high priority so is guaranteed to get processor time.
   * Its function is to check that all the other tasks are still operational.
   * Each standard demo task 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 writes "PASS" to the
   * CrossStudio terminal IO window.  Should any task contain an error at any time
   * the error is latched and "FAIL" written to the terminal IO window.
   *
   * Finally, main() sets up an interrupt service routine and task to handle
   * pushes of the button that is built into the CrossFire board.  When the button
   * is pushed the ISR wakes the button task - which generates a table of task
   * status information which is also displayed on the terminal IO window.
   *
   * A print task is defined to ensure exclusive and consistent access to the
   * terminal IO.  This is the only task that is allowed to access the terminal.
   * The check and button task therefore do not access the terminal directly but
   * instead pass a pointer to the message they wish to display to the print task.
   */
  
  /* Standard includes. */
  #include <__cross_studio_io.h>
  
  /* Scheduler includes. */
  #include "FreeRTOS.h"
  #include "task.h"
  #include "queue.h"
  #include "semphr.h"
  
  /* Demo app includes. */
  #include "BlockQ.h"
  #include "death.h"
  #include "dynamic.h"
  #include "integer.h"
  #include "PollQ.h"
  #include "blocktim.h"
  #include "recmutex.h"
  #include "semtest.h"
  
  /* Hardware configuration definitions. */
  #define mainBUS_CLK_FULL					( ( unsigned char ) 0x01 )
  #define mainLED_BIT							0x80000000
  #define mainP0_14__EINT_1					( 2 << 28 )
  #define mainEINT_1_EDGE_SENSITIVE			2
  #define mainEINT_1_FALLING_EDGE_SENSITIVE	0
  #define mainEINT_1_CHANNEL					15
  #define mainEINT_1_VIC_CHANNEL_BIT			( 1 << mainEINT_1_CHANNEL )
  #define mainEINT_1_ENABLE_BIT				( 1 << 5 )
  
  /* Demo application definitions. */
  #define mainQUEUE_SIZE						( 3 )
  #define mainLED_DELAY						( ( TickType_t ) 500 / portTICK_PERIOD_MS )
  #define mainERROR_LED_DELAY					( ( TickType_t ) 50 / portTICK_PERIOD_MS )
  #define mainCHECK_DELAY						( ( TickType_t ) 5000 / portTICK_PERIOD_MS )
  #define mainLIST_BUFFER_SIZE				2048
  #define mainNO_DELAY						( 0 )
  #define mainSHORT_DELAY						( 150 / portTICK_PERIOD_MS )
  
  /* Task priorities. */
  #define mainLED_TASK_PRIORITY				( tskIDLE_PRIORITY + 2 )
  #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 mainPRINT_TASK_PRIORITY				( tskIDLE_PRIORITY + 0 )
  
  /*-----------------------------------------------------------*/
  
  /* The semaphore used to wake the button task from within the external interrupt
  handler. */
  SemaphoreHandle_t xButtonSemaphore;
  
  /* The queue that is used to send message to vPrintTask for display in the
  terminal output window. */
  QueueHandle_t xPrintQueue;
  
  /* The rate at which the LED will toggle.  The toggle rate increases if an
  error is detected in any task. */
  static TickType_t xLED_Delay = mainLED_DELAY;
  /*-----------------------------------------------------------*/
  
  /*
   * Simply flashes the on board LED every mainLED_DELAY milliseconds.
   */
  static void vLEDTask( void *pvParameters );
  
  /*
   * Checks the status of all the demo tasks then prints a message to the
   * CrossStudio terminal IO windows.  The message will be either PASS or FAIL
   * depending on the status of the demo applications tasks.  A FAIL status will
   * be latched.
   *
   * Messages are not written directly to the terminal, but passed to vPrintTask
   * via a queue.
   */
  static void vCheckTask( void *pvParameters );
  
  /*
   * Controls all terminal output.  If a task wants to send a message to the
   * terminal IO it posts a pointer to the text to vPrintTask via a queue.  This
   * ensures serial access to the terminal IO.
   */
  static void vPrintTask( void *pvParameter );
  
  /*
   * Simply waits for an interrupt to be generated from the built in button, then
   * generates a table of tasks states that is then written by vPrintTask to the
   * terminal output window within CrossStudio.
   */
  static void vButtonHandlerTask( void *pvParameters );
  
  /*-----------------------------------------------------------*/
  
  int main( void )
  {
  	/* Setup the peripheral bus to be the same as the PLL output. */
  	VPBDIV = mainBUS_CLK_FULL;
  
  	/* Create the queue used to pass message to vPrintTask. */
  	xPrintQueue = xQueueCreate( mainQUEUE_SIZE, sizeof( char * ) );
  
  	/* Create the semaphore used to wake vButtonHandlerTask(). */
  	vSemaphoreCreateBinary( xButtonSemaphore );
  	xSemaphoreTake( xButtonSemaphore, 0 );
  
  	/* Start the standard demo tasks. */
  	vStartIntegerMathTasks( tskIDLE_PRIORITY );
  	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
  	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
  	vStartDynamicPriorityTasks();
  	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
  
  	#if configUSE_PREEMPTION == 1
  	{
  		/* The timing of console output when not using the preemptive
  		scheduler causes the block time tests to detect a timing problem. */
  		vCreateBlockTimeTasks();
  	}
  	#endif
  
      vStartRecursiveMutexTasks();
  
  	/* Start the tasks defined within this file. */
  	xTaskCreate( vLEDTask, "LED", configMINIMAL_STACK_SIZE, NULL, mainLED_TASK_PRIORITY, NULL );
      xTaskCreate( vCheckTask, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
      xTaskCreate( vPrintTask, "Print", configMINIMAL_STACK_SIZE, NULL, mainPRINT_TASK_PRIORITY, NULL );
      xTaskCreate( vButtonHandlerTask, "Button", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
  
  	/* Start the scheduler. */
  	vTaskStartScheduler();
  
  	/* The scheduler should now be running, so we will only ever reach here if we
  	ran out of heap space. */
  
  	return 0;
  }
  /*-----------------------------------------------------------*/
  
  static void vLEDTask( void *pvParameters )
  {
  	/* Just to remove compiler warnings. */
  	( void ) pvParameters;
  
  	/* Configure IO. */
  	IO0DIR |= mainLED_BIT;
  	IO0SET = mainLED_BIT;
  
  	for( ;; )
  	{
  		/* Not very exiting - just delay... */
  		vTaskDelay( xLED_Delay );
  
  		/* ...set the IO ... */
          IO0CLR = mainLED_BIT;
  
  		/* ...delay again... */
  		vTaskDelay( xLED_Delay );
  
  		/* ...then clear the IO. */
  		IO0SET = mainLED_BIT;
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void vCheckTask( void *pvParameters )
  {
  portBASE_TYPE xErrorOccurred = pdFALSE;
  TickType_t xLastExecutionTime;
  const char * const pcPassMessage = "PASS\n";
  const char * const pcFailMessage = "FAIL\n";
  
  	/* Just to remove compiler warnings. */
  	( void ) pvParameters;
  
  	/* Initialise xLastExecutionTime so the first call to vTaskDelayUntil()
  	works correctly. */
  	xLastExecutionTime = xTaskGetTickCount();
  
  	for( ;; )
  	{
  		/* Perform this check every mainCHECK_DELAY milliseconds. */
  		vTaskDelayUntil( &xLastExecutionTime, mainCHECK_DELAY );
  
  		/* Has an error been found in any task? */
  
  		if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
  		{
  			xErrorOccurred = pdTRUE;
  		}
  
  		if( xArePollingQueuesStillRunning() != pdTRUE )
  		{
  			xErrorOccurred = pdTRUE;
  		}
  
  		if( xAreSemaphoreTasksStillRunning() != pdTRUE )
  		{
  			xErrorOccurred = pdTRUE;
  		}
  
  		if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
  		{
  			xErrorOccurred = pdTRUE;
  		}
  
  		if( xAreBlockingQueuesStillRunning() != pdTRUE )
  		{
  			xErrorOccurred = pdTRUE;
  		}
  
  		#if configUSE_PREEMPTION == 1
  		{
  			/* The timing of console output when not using the preemptive
  			scheduler causes the block time tests to detect a timing problem. */
  			if( xAreBlockTimeTestTasksStillRunning() != pdTRUE )
  			{
  				xErrorOccurred = pdTRUE;
  			}
  		}
  		#endif
  
  		if( xAreRecursiveMutexTasksStillRunning() != pdTRUE )
  		{
  			xErrorOccurred = pdTRUE;
  		}
  
  		/* Send either a pass or fail message.  If an error is found it is
  		never cleared again. */
  		if( xErrorOccurred == pdTRUE )
  		{
  			xLED_Delay = mainERROR_LED_DELAY;
  			xQueueSend( xPrintQueue, &pcFailMessage, portMAX_DELAY );
  		}
  		else
  		{
  			xQueueSend( xPrintQueue, &pcPassMessage, portMAX_DELAY );
  		}
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void vPrintTask( void *pvParameters )
  {
  char *pcMessage;
  
  	/* Just to stop compiler warnings. */
  	( void ) pvParameters;
  
  	for( ;; )
  	{
  		/* Wait for a message to arrive. */
  		while( xQueueReceive( xPrintQueue, &pcMessage, portMAX_DELAY ) != pdPASS );
  
  		/* Write the message to the terminal IO. */
  		#ifndef NDEBUG
  			debug_printf( "%s", pcMessage );
  		#endif
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void vButtonHandlerTask( void *pvParameters )
  {
  static char cListBuffer[ mainLIST_BUFFER_SIZE ];
  const char *pcList = &( cListBuffer[ 0 ] );
  const char * const pcHeader = "\nTask          State  Priority  Stack	#\n************************************************";
  extern void (vButtonISRWrapper) ( void );
  
  	/* Just to stop compiler warnings. */
  	( void ) pvParameters;
  
  	/* Configure the interrupt. */
  	portENTER_CRITICAL();
  	{
  		/* Configure P0.14 to generate interrupts. */
  		PINSEL0 |= mainP0_14__EINT_1;
  		EXTMODE = mainEINT_1_EDGE_SENSITIVE;
  		EXTPOLAR = mainEINT_1_FALLING_EDGE_SENSITIVE;
  
  		/* Setup the VIC for EINT 1. */
  		VICIntSelect &= ~mainEINT_1_VIC_CHANNEL_BIT;
  		VICIntEnable |= mainEINT_1_VIC_CHANNEL_BIT;
  		VICVectAddr1 = ( long ) vButtonISRWrapper;
  		VICVectCntl1 = mainEINT_1_ENABLE_BIT | mainEINT_1_CHANNEL;
  	}
  	portEXIT_CRITICAL();
  
  	for( ;; )
  	{
  		/* For debouncing, wait a while then clear the semaphore. */
  		vTaskDelay( mainSHORT_DELAY );
  		xSemaphoreTake( xButtonSemaphore, mainNO_DELAY );
  
  		/* Wait for an interrupt. */
  		xSemaphoreTake( xButtonSemaphore, portMAX_DELAY );
  
  		/* Send the column headers to the print task for display. */
  		xQueueSend( xPrintQueue, &pcHeader, portMAX_DELAY );
  
  		/* Create the list of task states. */
  		vTaskList( cListBuffer );
  
  		/* Send the task status information to the print task for display. */
  		xQueueSend( xPrintQueue, &pcList, portMAX_DELAY );
  	}
  }
  /*-----------------------------------------------------------*/
  
  void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
  {
  	/* Check pcTaskName for the name of the offending task, or pxCurrentTCB
  	if pcTaskName has itself been corrupted. */
  	( void ) pxTask;
  	( void ) pcTaskName;
  	for( ;; );
  }
  
  
  
  
  
  
  