text: /*
      FreeRTOS V7.6.0 - Copyright (C) 2013 Real Time Engineers Ltd. 
      All rights reserved
  
      VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.
  
      ***************************************************************************
       *                                                                       *
       *    FreeRTOS provides completely free yet professionally developed,    *
       *    robust, strictly quality controlled, supported, and cross          *
       *    platform software that has become a de facto standard.             *
       *                                                                       *
       *    Help yourself get started quickly and support the FreeRTOS         *
       *    project by purchasing a FreeRTOS tutorial book, reference          *
       *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
       *                                                                       *
       *    Thank you!                                                         *
       *                                                                       *
      ***************************************************************************
  
      This file is part of the FreeRTOS distribution.
  
      FreeRTOS is free software; you can redistribute it and/or modify it under
      the terms of the GNU General Public License (version 2) as published by the
      Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.
  
      >>! NOTE: The modification to the GPL is included to allow you to distribute
      >>! a combined work that includes FreeRTOS without being obliged to provide
      >>! the source code for proprietary components outside of the FreeRTOS
      >>! kernel.
  
      FreeRTOS 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.  Full license text is available from the following
      link: http://www.freertos.org/a00114.html
  
      1 tab == 4 spaces!
  
      ***************************************************************************
       *                                                                       *
       *    Having a problem?  Start by reading the FAQ "My application does   *
       *    not run, what could be wrong?"                                     *
       *                                                                       *
       *    http://www.FreeRTOS.org/FAQHelp.html                               *
       *                                                                       *
      ***************************************************************************
  
      http://www.FreeRTOS.org - Documentation, books, training, latest versions,
      license and Real Time Engineers Ltd. contact details.
  
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      including FreeRTOS+Trace - an indispensable productivity tool, a DOS
      compatible FAT file system, and our tiny thread aware UDP/IP stack.
  
      http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
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      licenses offer ticketed support, indemnification and middleware.
  
      http://www.SafeRTOS.com - High Integrity Systems also provide a safety
      engineered and independently SIL3 certified version for use in safety and
      mission critical applications that require provable dependability.
  
      1 tab == 4 spaces!
  */
  
  /*
   * Creates all the demo application tasks, then starts the scheduler.  The WEB
   * documentation provides more details of the demo application tasks.
   *
   * 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 that does not flash an LED 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 an LED.  Should any task contain an error at any time the LED toggle
   * will stop.
   *
   * The LED flash and communications test tasks do not maintain a count.
   */
  
  /*
  Changes from V1.2.0
  	
  	+ Changed the baud rate for the serial test from 19200 to 57600.
  
  Changes from V1.2.3
  
  	+ The integer and comtest tasks are now used when the cooperative scheduler
  	  is being used.  Previously they were only used with the preemptive
  	  scheduler.
  
  Changes from V1.2.5
  
  	+ Set the baud rate to 38400.  This has a smaller error percentage with an
  	  8MHz clock (according to the manual).
  
  Changes from V2.0.0
  
  	+ Delay periods are now specified using variables and constants of
  	  portTickType rather than unsigned long.
  
  Changes from V2.2.0
  
  	+ File can now be built using either the IAR or WinAVR compiler.
  
  Changes from V2.6.1
  
  	+ The IAR and WinAVR AVR ports are now maintained separately.
  
  Changes from V4.0.5
  
  	+ Modified to demonstrate the use of co-routines.
  */
  
  #include <stdlib.h>
  #include <string.h>
  
  #ifdef GCC_MEGA_AVR
  	/* EEPROM routines used only with the WinAVR compiler. */
  	#include <avr/eeprom.h>
  #endif
  
  /* Scheduler include files. */
  #include "FreeRTOS.h"
  #include "task.h"
  #include "croutine.h"
  
  /* Demo file headers. */
  #include "PollQ.h"
  #include "integer.h"
  #include "serial.h"
  #include "comtest.h"
  #include "crflash.h"
  #include "print.h"
  #include "partest.h"
  #include "regtest.h"
  
  /* Priority definitions for most of the tasks in the demo application.  Some
  tasks just use the idle priority. */
  #define mainLED_TASK_PRIORITY			( tskIDLE_PRIORITY + 1 )
  #define mainCOM_TEST_PRIORITY			( tskIDLE_PRIORITY + 2 )
  #define mainQUEUE_POLL_PRIORITY			( tskIDLE_PRIORITY + 2 )
  #define mainCHECK_TASK_PRIORITY			( tskIDLE_PRIORITY + 3 )
  
  /* Baud rate used by the serial port tasks. */
  #define mainCOM_TEST_BAUD_RATE			( ( unsigned long ) 38400 )
  
  /* LED used by the serial port tasks.  This is toggled on each character Tx,
  and mainCOM_TEST_LED + 1 is toggles on each character Rx. */
  #define mainCOM_TEST_LED				( 4 )
  
  /* LED that is toggled by the check task.  The check task periodically checks
  that all the other tasks are operating without error.  If no errors are found
  the LED is toggled.  If an error is found at any time the LED is never toggles
  again. */
  #define mainCHECK_TASK_LED				( 7 )
  
  /* The period between executions of the check task. */
  #define mainCHECK_PERIOD				( ( portTickType ) 3000 / portTICK_RATE_MS  )
  
  /* An address in the EEPROM used to count resets.  This is used to check that
  the demo application is not unexpectedly resetting. */
  #define mainRESET_COUNT_ADDRESS			( ( void * ) 0x50 )
  
  /* The number of coroutines to create. */
  #define mainNUM_FLASH_COROUTINES		( 3 )
  
  /*
   * The task function for the "Check" task.
   */
  static void vErrorChecks( void *pvParameters );
  
  /*
   * Checks the unique counts of other tasks to ensure they are still operational.
   * Flashes an LED if everything is okay.
   */
  static void prvCheckOtherTasksAreStillRunning( void );
  
  /*
   * Called on boot to increment a count stored in the EEPROM.  This is used to
   * ensure the CPU does not reset unexpectedly.
   */
  static void prvIncrementResetCount( void );
  
  /*
   * Idle hook is used to scheduler co-routines.
   */
  void vApplicationIdleHook( void );	
  
  short main( void )
  {
  	prvIncrementResetCount();
  
  	/* Setup the LED's for output. */
  	vParTestInitialise();
  
  	/* Create the standard demo tasks. */
  	vStartIntegerMathTasks( tskIDLE_PRIORITY );
  	vAltStartComTestTasks( mainCOM_TEST_PRIORITY, mainCOM_TEST_BAUD_RATE, mainCOM_TEST_LED );
  	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
  	vStartRegTestTasks();
  	
  	/* Create the tasks defined within this file. */
  	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
  
  	/* Create the co-routines that flash the LED's. */
  	vStartFlashCoRoutines( mainNUM_FLASH_COROUTINES );
  	
  	/* In this port, to use preemptive scheduler define configUSE_PREEMPTION
  	as 1 in portmacro.h.  To use the cooperative scheduler define
  	configUSE_PREEMPTION as 0. */
  	vTaskStartScheduler();
  
  	return 0;
  }
  /*-----------------------------------------------------------*/
  
  static void vErrorChecks( void *pvParameters )
  {
  static volatile unsigned long ulDummyVariable = 3UL;
  
  	/* The parameters are not used. */
  	( void ) pvParameters;
  
  	/* Cycle for ever, delaying then checking all the other tasks are still
  	operating without error. */
  	for( ;; )
  	{
  		vTaskDelay( mainCHECK_PERIOD );
  
  		/* Perform a bit of 32bit maths to ensure the registers used by the
  		integer tasks get some exercise. The result here is not important -
  		see the demo application documentation for more info. */
  		ulDummyVariable *= 3;
  		
  		prvCheckOtherTasksAreStillRunning();
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void prvCheckOtherTasksAreStillRunning( void )
  {
  static portBASE_TYPE xErrorHasOccurred = pdFALSE;
  
  	if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
  	{
  		xErrorHasOccurred = pdTRUE;
  	}
  
  	if( xAreComTestTasksStillRunning() != pdTRUE )
  	{
  		xErrorHasOccurred = pdTRUE;
  	}
  
  	if( xArePollingQueuesStillRunning() != pdTRUE )
  	{
  		xErrorHasOccurred = pdTRUE;
  	}
  
  	if( xAreRegTestTasksStillRunning() != pdTRUE )
  	{
  		xErrorHasOccurred = pdTRUE;
  	}
  	
  	if( xErrorHasOccurred == pdFALSE )
  	{
  		/* Toggle the LED if everything is okay so we know if an error occurs even if not
  		using console IO. */
  		vParTestToggleLED( mainCHECK_TASK_LED );
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void prvIncrementResetCount( void )
  {
  unsigned char ucCount;
  const unsigned char ucReadBit = ( unsigned char ) 0x01;
  const unsigned char ucWrite1 = ( unsigned char ) 0x04;
  const unsigned char ucWrite2 = ( unsigned char ) 0x02;
  
  	/* Increment the EEPROM value at 0x00.
  	
  	Setup the EEPROM address. */
  	EEARH = 0x00;
  	EEARL = 0x00;
  	
  	/* Set the read enable bit. */
  	EECR |= ucReadBit;
  
  	/* Wait for the read. */
  	while( EECR & ucReadBit );
  	
  	/* The byte is ready. */
  	ucCount = EEDR;
  	
  	/* Increment the reset count, then write the byte back. */
  	ucCount++;
  	EEDR = ucCount;
  	EECR = ucWrite1;
  	EECR = ( ucWrite1 | ucWrite2 );
  }
  /*-----------------------------------------------------------*/
  
  void vApplicationIdleHook( void )
  {
  	vCoRoutineSchedule();
  }
  
  