text: /*
   * FreeRTOS Kernel V10.3.0
   * 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.
   *
   * http://www.FreeRTOS.org
   * http://aws.amazon.com/freertos
   *
   * 1 tab == 4 spaces!
   */
  
  /* 
  	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.  The SAM7
   * includes a sample USB that emulates a Joystick input to a USB host.
   * 
   * 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.
   *
   */
  
  /* Standard includes. */
  #include <stdlib.h>
  
  /* Scheduler includes. */
  #include "FreeRTOS.h"
  #include "task.h"
  
  /* Demo application includes. */
  #include "flash.h"
  #include "integer.h"
  #include "PollQ.h"
  #include "BlockQ.h"
  #include "semtest.h"
  #include "dynamic.h"
  #include "partest.h"
  #include "comtest2.h"
  #include "USB/USBSample.h"
  
  /* Priorities for the demo application tasks. */
  #define mainLED_TASK_PRIORITY		( tskIDLE_PRIORITY + 3 )
  #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 )
  #define mainCOM_TEST_PRIORITY		( tskIDLE_PRIORITY + 2 )
  #define mainUSB_PRIORITY			( tskIDLE_PRIORITY + 2 )
  
  /* Constants required by the 'Check' task. */
  #define mainNO_ERROR_FLASH_PERIOD	( ( TickType_t ) 3000 / portTICK_PERIOD_MS  )
  #define mainERROR_FLASH_PERIOD		( ( TickType_t ) 500 / portTICK_PERIOD_MS  )
  #define mainCHECK_TASK_LED			( 3 )
  
  /* Constants for the ComTest tasks. */
  #define mainCOM_TEST_BAUD_RATE		( ( unsigned long ) 115200 )
  #define mainCOM_TEST_LED			( 4 ) /* Off the board. */
  
  /*
   * 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 );
  
  /*
   * Configure the processor for use with the Atmel demo board.  Setup is minimal
   * as the low level init function (called from the startup asm file) takes care
   * of most things.
   */
  static void prvSetupHardware( void );
  
  /*
   * Checks that all the demo application tasks are still executing without error
   * - as described at the top of the file.
   */
  static long prvCheckOtherTasksAreStillRunning( void );
  
  
  /*-----------------------------------------------------------*/
  
  /*
   * Starts all the other tasks, then starts the scheduler. 
   */
  void main( void )
  {
  	/* Setup any hardware that has not already been configured by the low
  	level init routines. */
  	prvSetupHardware();
  
  	/* Initialise the LED outputs for use by the demo application tasks. */
  	vParTestInitialise();
  
  	/* Start all the standard demo application tasks. */
  	vStartIntegerMathTasks( tskIDLE_PRIORITY );
  	vStartLEDFlashTasks( mainLED_TASK_PRIORITY );
  	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
  	vStartSemaphoreTasks( mainSEM_TEST_PRIORITY );
  	vStartBlockingQueueTasks( mainBLOCK_Q_PRIORITY );
  	vStartDynamicPriorityTasks();
  	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
  	
  	/* Also start the USB demo which is just for the SAM7. */
  	xTaskCreate( vUSBDemoTask, "USB", configMINIMAL_STACK_SIZE, NULL, mainUSB_PRIORITY, NULL );
  	
  	/* Start the check task - which is defined in this file. */
  	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
  
  	/* 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();
  
  	/* We should never get here as control is now taken by the scheduler. */
    	return;
  }
  /*-----------------------------------------------------------*/
  
  static void prvSetupHardware( void )
  {
  	/* When using the JTAG debugger the hardware is not always initialised to
  	the correct default state.  This line just ensures that this does not
  	cause all interrupts to be masked at the start. */
  	AT91C_BASE_AIC->AIC_EOICR = 0;
  	
  	/* Most setup is performed by the low level init function called from the 
  	startup asm file. */
  
  	/* Configure the PIO Lines corresponding to LED1 to LED4 to be outputs as 
  	well as the UART Tx line. */
  	AT91F_PIO_CfgOutput( AT91C_BASE_PIOA, LED_MASK );
  	
  	/* Enable the peripheral clock. */
  	AT91F_PMC_EnablePeriphClock( AT91C_BASE_PMC, 1 << AT91C_ID_PIOA );
  }
  /*-----------------------------------------------------------*/
  
  static void vErrorChecks( void *pvParameters )
  {
  TickType_t xDelayPeriod = mainNO_ERROR_FLASH_PERIOD;
  
  	/* The parameters are not used in this task. */
  	( 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. */
  
  	for( ;; )
  	{
  		/* Delay until it is time to execute again. */
  		vTaskDelay( xDelayPeriod );
  	
  		/* Check all the standard demo application tasks are executing without 
  		error. */
  		if( prvCheckOtherTasksAreStillRunning() != pdPASS )
  		{
  			/* An error has been detected in one of the tasks - flash faster. */
  			xDelayPeriod = mainERROR_FLASH_PERIOD;
  		}
  		
  		vParTestToggleLED( mainCHECK_TASK_LED );
  	}
  }
  /*-----------------------------------------------------------*/
  
  static long prvCheckOtherTasksAreStillRunning( void )
  {
  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( xArePollingQueuesStillRunning() != pdTRUE )
  	{
  		lReturn = ( long ) pdFAIL;
  	}
  
  	if( xAreSemaphoreTasksStillRunning() != pdTRUE )
  	{
  		lReturn = ( long ) pdFAIL;
  	}
  
  	if( xAreBlockingQueuesStillRunning() != pdTRUE )
  	{
  		lReturn = ( long ) pdFAIL;
  	}
  
  	if( xAreComTestTasksStillRunning() != pdTRUE )
  	{
  		lReturn = ( long ) pdFAIL;
  	}
  
  	if( xAreDynamicPriorityTasksStillRunning() != pdTRUE )
  	{
  		lReturn = ( long ) pdFAIL;
  	}
  
  	return lReturn;
  }
  /*-----------------------------------------------------------*/
  
  
  