text: /*
      FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
      All rights reserved
  
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      the terms of the GNU General Public License (version 2) as published by the
      Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.
  
      ***************************************************************************
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      ***************************************************************************
  
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      WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
      FOR A PARTICULAR PURPOSE.  Full license text is available on the following
      link: http://www.freertos.org/a00114.html
  
      ***************************************************************************
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  */
  
  /* 
   * This demo application creates eight co-routines and four tasks (five 
   * including the idle task).  The co-routines execute as part of the idle task 
   * hook.  The application is limited in size to allow its compilation using
   * the KickStart version of the IAR compiler.
   *
   * Six of the created co-routines are the standard 'co-routine flash' 
   * co-routines contained within the Demo/Common/Minimal/crflash.c file and 
   * documented on the FreeRTOS.org WEB site.  
   *
   * The 'LCD Task' waits on a message queue for messages informing it what and
   * where to display text.  This is the only task that accesses the LCD
   * so mutual exclusion is guaranteed.
   *
   * The 'LCD Message Task' periodically sends strings to the LCD Task using
   * the message queue.  The strings are rotated to form a short message and
   * are written to the top row of the LCD.
   *
   * The 'ADC Co-routine' periodically reads the ADC input that is connected to
   * the light sensor, forms a short message from the value, and then sends this
   * message to the LCD Task using the same message queue.  The ADC readings are
   * displayed on the bottom row of the LCD.  
   *
   * The eighth co-routine and final task control the transmission and reception
   * of a string to UART 0.  The co-routine periodically sends the first 
   * character of the string to the UART, with the UART's TxEnd interrupt being
   * used to transmit the remaining characters.  The UART's RxEnd interrupt 
   * receives the characters and places them on a queue to be processed by the 
   * 'COMs Rx' task.  An error is latched should an unexpected character be 
   * received, or any character be received out of sequence.  
   *
   * A loopback connector is required to ensure that each character transmitted 
   * on the UART is also received on the same UART.  For test purposes the UART
   * FIFO's are not utalised in order to maximise the interrupt overhead.  Also
   * a pseudo random interval is used between the start of each transmission in 
   * order that the resultant interrupts are more randomly distributed and 
   * therefore more likely to highlight any problems.
   *
   * The flash co-routines control LED's zero to four.  LED five is toggled each
   * time the string is transmitted on the UART.  LED six is toggled each time
   * the string is CORRECTLY received on the UART.  LED seven is latched on 
   * should an error be detected in any task or co-routine.
   *
   * In addition the idle task makes repetitive calls to 
   * vSetAndCheckRegisters().  This simply loads the general purpose registers 
   * with a known value, then checks each register to ensure the held value is 
   * still correct.  As a low priority task this checking routine is likely to 
   * get repeatedly swapped in and out.  A register being found to contain an 
   * incorrect value is therefore indicative of an error in the task switching 
   * mechanism.
   *
   */
  
  /* standard include files. */
  #include <stdio.h>
  
  /* Scheduler include files. */
  #include "FreeRTOS.h"
  #include "task.h"
  #include "queue.h"
  #include "croutine.h"
  
  /* Demo application include files. */
  #include "partest.h"
  #include "crflash.h"
  #include "commstest.h"
  
  /* Library include files. */
  #include "DriverLib.h"
  
  /* The time to delay between writing each character to the LCD. */
  #define mainCHAR_WRITE_DELAY		( 2 / portTICK_PERIOD_MS )
  
  /* The time to delay between writing each string to the LCD. */
  #define mainSTRING_WRITE_DELAY		( 400 / portTICK_PERIOD_MS )
  
  #define mainADC_DELAY				( 200 / portTICK_PERIOD_MS )
  
  /* The number of flash co-routines to create. */
  #define mainNUM_FLASH_CO_ROUTINES	( 5 )
  
  /* The length of the queue used to send messages to the LCD task. */
  #define mainLCD_QUEUE_LEN			( 3 )
  
  /* The priority of the co-routine used to initiate the transmission of the 
  string on UART 0. */
  #define mainTX_CO_ROUTINE_PRIORITY	( 1 )
  #define mainADC_CO_ROUTINE_PRIORITY 	( 2 )
  
  /* Only one of each co-routine is created so its index is not important. */
  #define mainTX_CO_ROUTINE_INDEX		( 0 )
  #define mainADC_CO_ROUTINE_INDEX  	( 0 )
  
  /* The task priorities. */
  #define mainLCD_TASK_PRIORITY		( tskIDLE_PRIORITY + 1 )
  #define mainMSG_TASK_PRIORITY		( mainLCD_TASK_PRIORITY - 1 )
  #define mainCOMMS_RX_TASK_PRIORITY	( tskIDLE_PRIORITY + 1 )
  
  /* The LCD had two rows. */
  #define mainTOP_ROW		0
  #define mainBOTTOM_ROW 	1
  
  /* Dimension for the buffer into which the ADC value string is written. */
  #define mainMAX_ADC_STRING_LEN	20
  
  /* The LED that is lit should an error be detected in any of the tasks or
  co-routines. */
  #define mainFAIL_LED			( 7 )
  
  /*-----------------------------------------------------------*/
  
  /*
   * The task that displays text on the LCD.
   */
  static void prvLCDTask( void * pvParameters );
  
  /*
   * The task that sends messages to be displayed on the top row of the LCD.
   */
  static void prvLCDMessageTask( void * pvParameters );
  
  /*
   * The co-routine that reads the ADC and sends messages for display on the
   * bottom row of the LCD.
   */
  static void prvADCCoRoutine( CoRoutineHandle_t xHandle, unsigned portBASE_TYPE uxIndex );
  
  /*
   * Function to simply set a known value into the general purpose registers
   * then read them back to ensure they remain set correctly.  An incorrect value
   * being indicative of an error in the task switching mechanism.
   */
  extern void vSetAndCheckRegisters( void );
  
  /*
   * Latch the LED that indicates that an error has occurred. 
   */
  void vSetErrorLED( void );
  
  /*
   * Thread safe write to the PDC.
   */
  static void prvPDCWrite( char cAddress, char cData );
  
  /*
   * Sets up the hardware used by the demo.
   */
  static void prvSetupHardware( void );
  
  
  /*-----------------------------------------------------------*/
  
  /* The structure that is passed on the LCD message queue. */
  typedef struct
  {
  	char **ppcMessageToDisplay; /*<< Points to a char* pointing to the message to display. */
  	portBASE_TYPE xRow;				/*<< The row on which the message should be displayed. */
  } xLCDMessage;
  
  /* Error flag set to pdFAIL if an error is encountered in the tasks/co-routines
  defined within this file. */
  unsigned portBASE_TYPE uxErrorStatus = pdPASS;
  
  /* The queue used to transmit messages to the LCD task. */
  static QueueHandle_t xLCDQueue;
  
  /*-----------------------------------------------------------*/
  
  /*
   * Setup the hardware, create the tasks/co-routines, then start the scheduler.
   */
  void main( void )
  {
  	/* Create the queue used by tasks wanting to write to the LCD. */
  	xLCDQueue = xQueueCreate( mainLCD_QUEUE_LEN, sizeof( xLCDMessage ) );
  
  	/* Setup the ports used by the demo and the clock. */
  	prvSetupHardware();
  
  	/* Create the co-routines that flash the LED's. */
  	vStartFlashCoRoutines( mainNUM_FLASH_CO_ROUTINES );
  
  	/* Create the co-routine that initiates the transmission of characters
  	on the UART and the task that receives them, as described at the top of
  	this file. */
  	xCoRoutineCreate( vSerialTxCoRoutine, mainTX_CO_ROUTINE_PRIORITY, mainTX_CO_ROUTINE_INDEX );
  	xTaskCreate( vCommsRxTask, "CMS", configMINIMAL_STACK_SIZE, NULL, mainCOMMS_RX_TASK_PRIORITY, NULL );
  
  	/* Create the task that waits for messages to display on the LCD, plus the
  	task and co-routine that send messages for display (as described at the top
  	of this file. */
  	xTaskCreate( prvLCDTask, "LCD", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainLCD_TASK_PRIORITY, NULL );
  	xTaskCreate( prvLCDMessageTask, "MSG", configMINIMAL_STACK_SIZE, ( void * ) &xLCDQueue, mainMSG_TASK_PRIORITY, NULL );
  	xCoRoutineCreate( prvADCCoRoutine, mainADC_CO_ROUTINE_PRIORITY, mainADC_CO_ROUTINE_INDEX );
  
  	/* Start the scheduler running the tasks and co-routines just created. */
  	vTaskStartScheduler();
  
  	/* Should not get here unless we did not have enough memory to start the
  	scheduler. */
  	for( ;; );
  }
  /*-----------------------------------------------------------*/
  
  static void prvLCDMessageTask( void * pvParameters )
  {
  /* The strings that are written to the LCD. */
  char *pcStringsToDisplay[] = {										
  									"IAR             ",
  									"Stellaris       ",
  									"Demo            ",
  									"www.FreeRTOS.org",
  									""
  								};
  
  QueueHandle_t *pxLCDQueue;	
  xLCDMessage xMessageToSend;
  portBASE_TYPE xIndex = 0;
  
  	/* To test the parameter passing mechanism, the queue on which messages are
  	posted is passed in as a parameter even though it is available as a file
  	scope variable anyway. */
  	pxLCDQueue = ( QueueHandle_t * ) pvParameters;
  
  	for( ;; )
  	{
  		/* Wait until it is time to move onto the next string. */
  		vTaskDelay( mainSTRING_WRITE_DELAY );		
  		
  		/* Create the message object to send to the LCD task. */
  		xMessageToSend.ppcMessageToDisplay = &pcStringsToDisplay[ xIndex ];
  		xMessageToSend.xRow = mainTOP_ROW;
  		
  		/* Post the message to be displayed. */
  		if( !xQueueSend( *pxLCDQueue, ( void * ) &xMessageToSend, 0 ) )
  		{
  			uxErrorStatus = pdFAIL;
  		}
  		
  		/* Move onto the next message, wrapping when necessary. */
  		xIndex++;		
  		if( *( pcStringsToDisplay[ xIndex ] ) == 0x00 )
  		{
  			xIndex = 0;
  
  			/* Delay longer before going back to the start of the messages. */
  			vTaskDelay( mainSTRING_WRITE_DELAY * 2 );
  		}
  	}
  }
  /*-----------------------------------------------------------*/
  
  void prvLCDTask( void * pvParameters )
  {
  unsigned portBASE_TYPE uxIndex;
  QueueHandle_t *pxLCDQueue;
  xLCDMessage xReceivedMessage;
  char *pcString;
  const unsigned char ucCFGData[] = {	
  											0x30,   /* Set data bus to 8-bits. */
  											0x30,
  											0x30,
  											0x3C,   /* Number of lines/font. */
  											0x08,   /* Display off. */
  											0x01,   /* Display clear. */
  											0x06,   /* Entry mode [cursor dir][shift]. */
  											0x0C	/* Display on [display on][curson on][blinking on]. */
  									  };  
  
  	/* To test the parameter passing mechanism, the queue on which messages are
  	received is passed in as a parameter even though it is available as a file
  	scope variable anyway. */
  	pxLCDQueue = ( QueueHandle_t * ) pvParameters;
  
  	/* Configure the LCD. */
  	uxIndex = 0;
  	while( uxIndex < sizeof( ucCFGData ) )
  	{
  		prvPDCWrite( PDC_LCD_CSR, ucCFGData[ uxIndex ] );
  		uxIndex++;
  		vTaskDelay( mainCHAR_WRITE_DELAY );
  	}
  
  	/* Turn the LCD Backlight on. */
  	prvPDCWrite( PDC_CSR, 0x01 );
  
  	/* Clear display. */
  	vTaskDelay( mainCHAR_WRITE_DELAY );
  	prvPDCWrite( PDC_LCD_CSR, LCD_CLEAR ); 
  
  	uxIndex = 0;
  	for( ;; )    
  	{
  		/* Wait for a message to arrive. */
  		if( xQueueReceive( *pxLCDQueue, &xReceivedMessage, portMAX_DELAY ) )
  		{
  			/* Which row does the received message say to write to? */
  			PDCLCDSetPos( 0, xReceivedMessage.xRow );
  
  			/* Where is the string we are going to display? */
  			pcString = *xReceivedMessage.ppcMessageToDisplay;
  			
  			while( *pcString )
  			{
  				/* Don't write out the string too quickly as LCD's are usually 
  				pretty slow devices. */
  				vTaskDelay( mainCHAR_WRITE_DELAY );
  				prvPDCWrite( PDC_LCD_RAM, *pcString );
  				pcString++;
  			}		
  		}
  	}
  }
  /*-----------------------------------------------------------*/
  
  static void prvADCCoRoutine( CoRoutineHandle_t xHandle, unsigned portBASE_TYPE uxIndex )
  {
  static unsigned long ulADCValue;
  static char cMessageBuffer[ mainMAX_ADC_STRING_LEN ];
  static char *pcMessage;
  static xLCDMessage xMessageToSend;
  
  	/* Co-routines MUST start with a call to crSTART(). */
  	crSTART( xHandle );
  	
  	for( ;; )
  	{
  		/* Start an ADC conversion. */
  		ADCProcessorTrigger( ADC_BASE, 0 );
  		
  		/* Simply delay - when we unblock the result should be available */	
  		crDELAY( xHandle, mainADC_DELAY );
  		
  		/* Get the ADC result. */
  		ADCSequenceDataGet( ADC_BASE, 0, &ulADCValue );
  
  		/* Create a string with the result. */		
  		sprintf( cMessageBuffer, "ADC = %d   ", ulADCValue );
  		pcMessage = cMessageBuffer;
  
  		/* Configure the message we are going to send for display. */
  		xMessageToSend.ppcMessageToDisplay = ( char** ) &pcMessage;
  		xMessageToSend.xRow = mainBOTTOM_ROW;
  		
  		/* Send the string to the LCD task for display.  We are sending
  		on a task queue so do not have the option to block. */
  		if( !xQueueSend( xLCDQueue, ( void * ) &xMessageToSend, 0 ) )
  		{
  			uxErrorStatus = pdFAIL;
  		}		
  	}
  	
  	/* Co-routines MUST end with a call to crEND(). */
  	crEND();
  }
  /*-----------------------------------------------------------*/
  
  static void prvSetupHardware( void )
  {
  	/* Setup the PLL. */
  	SysCtlClockSet( SYSCTL_SYSDIV_10 | SYSCTL_USE_PLL | SYSCTL_OSC_MAIN | SYSCTL_XTAL_6MHZ );
  	
  	/* Initialise the hardware used to talk to the LCD, LED's and UART. */
  	PDCInit();
  	vParTestInitialise();
  	vSerialInit();
  
  	/* The ADC is used to read the light sensor. */
  	SysCtlPeripheralEnable( SYSCTL_PERIPH_ADC );
      ADCSequenceConfigure( ADC_BASE, 3, ADC_TRIGGER_PROCESSOR, 0);
      ADCSequenceStepConfigure( ADC_BASE, 0, 0, ADC_CTL_CH0 | ADC_CTL_END );
      ADCSequenceEnable( ADC_BASE, 0 );
  
  }
  /*-----------------------------------------------------------*/
  
  static void prvPDCWrite( char cAddress, char cData )
  {
  	vTaskSuspendAll();
  	{
  		PDCWrite( cAddress, cData );
  	}
  	xTaskResumeAll();
  }
  /*-----------------------------------------------------------*/
  
  void vSetErrorLED( void )
  {
  	vParTestSetLED( mainFAIL_LED, pdTRUE );
  }
  /*-----------------------------------------------------------*/
  
  void vApplicationIdleHook( void )
  {
  	/* The co-routines are executed in the idle task using the idle task 
  	hook. */
  	for( ;; )
  	{
  		/* Schedule the co-routines. */
  		vCoRoutineSchedule();
  
  		/* Run the register check function between each co-routine. */
  		vSetAndCheckRegisters();
  		
  		/* See if the comms task and co-routine has found any errors. */
  		if( uxGetCommsStatus() != pdPASS )
  		{
  			vParTestSetLED( mainFAIL_LED, pdTRUE );
  		}
  	}
  }
  /*-----------------------------------------------------------*/
  