/*
    FreeRTOS V9.0.0 - Copyright (C) 2016 Real Time Engineers Ltd.
    All rights reserved

    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    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 on the following
    link: http://www.freertos.org/a00114.html

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS provides completely free yet professionally developed,    *
     *    robust, strictly quality controlled, supported, and cross          *
     *    platform software that is more than just the market leader, it     *
     *    is the industry's de facto standard.                               *
     *                                                                       *
     *    Help yourself get started quickly while simultaneously helping     *
     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
     *    tutorial book, reference manual, or both:                          *
     *    http://www.FreeRTOS.org/Documentation                              *
     *                                                                       *
    ***************************************************************************

    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
    the FAQ page "My application does not run, what could be wrong?".  Have you
    defined configASSERT()?

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    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
    Ltd, and the world's leading authority on the world's leading RTOS.

    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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    compatible FAT file system, and our tiny thread aware UDP/IP stack.

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    Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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    licenses offer ticketed support, indemnification and commercial middleware.

    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
    engineered and independently SIL3 certified version for use in safety and
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    1 tab == 4 spaces!
*/

/******************************************************************************
 *
 * See http://www.freertos.org/RTOS-Xilinx-Zynq.html for instructions.
 *
 * This project provides three demo applications.  A simple blinky style
 * project, a more comprehensive test and demo application, and an lwIP example.
 * The mainSELECTED_APPLICATION setting (defined in this file) is used to
 * select between the three.  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.  The lwIP example is implemented
 * and described in main_lwIP.c.
 *
 * This file implements the code that is not demo specific, including the
 * hardware setup and FreeRTOS hook functions.
 *
 * !!! IMPORTANT NOTE !!!
 * The GCC libraries that ship with the Xilinx SDK make use of the floating
 * point registers.  To avoid this causing corruption it is necessary to avoid
 * their use unless a task has been given a floating point context.  See
 * http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
 * for information on how to give a task a floating point context, and how to
 * handle floating point operations in interrupts.  As this demo does not give
 * all tasks a floating point context main.c contains very basic C
 * implementations of the standard C library functions memset(), memcpy() and
 * memcmp(), which are are used by FreeRTOS itself.  Defining these functions in
 * the project prevents the linker pulling them in from the library.  Any other
 * standard C library functions that are used by the application must likewise
 * be defined in C.
 *
 * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
 * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
 * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
 *
 */

/* Standard includes. */
#include <stdio.h>
#include <limits.h>

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"


/* Standard demo includes. */
//#include "partest.h"
//#include "TimerDemo.h"
//#include "QueueOverwrite.h"
//#include "EventGroupsDemo.h"
//#include "TaskNotify.h"
//#include "IntSemTest.h"

/* Xilinx includes. */
#include "platform.h"
#include "xparameters.h"
#include "xscutimer.h"
#include "xscugic.h"
#include "xil_exception.h"
#include "xscuwdt.h"

/* mainSELECTED_APPLICATION is used to select between three demo applications,
 * as described at the top of this file.
 *
 * When mainSELECTED_APPLICATION is set to 0 the simple blinky example will
 * be run.
 *
 * When mainSELECTED_APPLICATION is set to 1 the comprehensive test and demo
 * application will be run.
 *
 * When mainSELECTED_APPLICATION is set to 2 the lwIP example will be run.
 */
#define mainSELECTED_APPLICATION	0

/*-----------------------------------------------------------*/

/*
 * Configure the hardware as necessary to run this demo.
 */
static void prvSetupHardware( void );

/*
 * See the comments at the top of this file and above the
 * mainSELECTED_APPLICATION definition.
 */
#if ( mainSELECTED_APPLICATION == 0 )
	extern void main_ours( void );
#elif ( mainSELECTED_APPLICATION == 1 )
	extern void main_full( void );
#elif ( mainSELECTED_APPLICATION == 2 )
	extern void main_lwIP( void );
#else
	#error Invalid mainSELECTED_APPLICATION setting.  See the comments at the top of this file and above the mainSELECTED_APPLICATION definition.
#endif

/*
 * The Xilinx projects use a BSP that do not allow the start up code to be
 * altered easily.  Therefore the vector table used by FreeRTOS is defined in
 * FreeRTOS_asm_vectors.S, which is part of this project.  Switch to use the
 * FreeRTOS vector table.
 */
extern void vPortInstallFreeRTOSVectorTable( void );

/* Prototypes for the standard FreeRTOS callback/hook functions implemented
within this file. */
void vApplicationMallocFailedHook( void );
void vApplicationIdleHook( void );
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
void vApplicationTickHook( void );

/* The private watchdog is used as the timer that generates run time
stats.  This frequency means it will overflow quite quickly. */
XScuWdt xWatchDogInstance;

/*-----------------------------------------------------------*/

/* The interrupt controller is initialised in this file, and made available to
other modules. */
XScuGic xInterruptController;

/*-----------------------------------------------------------*/

int main( void )
{
	/* See http://www.freertos.org/RTOS-Xilinx-Zynq.html for instructions. */

	/* Configure the hardware ready to run the demo. */
	prvSetupHardware();

	/* The mainSELECTED_APPLICATION setting is described at the top	of this
	file. */
	#if( mainSELECTED_APPLICATION == 0 )
	{
		main_ours();
	}
	#elif( mainSELECTED_APPLICATION == 1 )
	{
		main_full();
	}
	#else
	{
		main_lwIP();
	}
	#endif

	/* Don't expect to reach here. */
	return 0;
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
BaseType_t xStatus;
XScuGic_Config *pxGICConfig;

	/* Ensure no interrupts execute while the scheduler is in an inconsistent
	state.  Interrupts are automatically enabled when the scheduler is
	started. */
	portDISABLE_INTERRUPTS();

	/* Obtain the configuration of the GIC. */
	pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );

	/* Sanity check the FreeRTOSConfig.h settings are correct for the
	hardware. */
	configASSERT( pxGICConfig );
	configASSERT( pxGICConfig->CpuBaseAddress == ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET ) );
	configASSERT( pxGICConfig->DistBaseAddress == configINTERRUPT_CONTROLLER_BASE_ADDRESS );

	/* Install a default handler for each GIC interrupt. */
	xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );
	configASSERT( xStatus == XST_SUCCESS );
	( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */

	/* Initialise the LED port. */
	//vParTestInitialise();
//	vParTestHDLInitialise();

	/* The Xilinx projects use a BSP that do not allow the start up code to be
	altered easily.  Therefore the vector table used by FreeRTOS is defined in
	FreeRTOS_asm_vectors.S, which is part of this project.  Switch to use the
	FreeRTOS vector table. */
	vPortInstallFreeRTOSVectorTable();
}
/*-----------------------------------------------------------*/

void vApplicationMallocFailedHook( void )
{
	/* Called if a call to pvPortMalloc() fails because there is insufficient
	free memory available in the FreeRTOS heap.  pvPortMalloc() is called
	internally by FreeRTOS API functions that create tasks, queues, software
	timers, and semaphores.  The size of the FreeRTOS heap is set by the
	configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
	taskDISABLE_INTERRUPTS();
	for( ;; );
}
/*-----------------------------------------------------------*/

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. */
	taskDISABLE_INTERRUPTS();
	for( ;; );
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
volatile size_t xFreeHeapSpace, xMinimumEverFreeHeapSpace;

	/* This is just a trivial example of an idle hook.  It is called on each
	cycle of the idle task.  It must *NOT* attempt to block.  In this case the
	idle task just queries the amount of FreeRTOS heap that remains.  See the
	memory management section on the http://www.FreeRTOS.org web site for memory
	management options.  If there is a lot of heap memory free then the
	configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
	RAM. */
	xFreeHeapSpace = xPortGetFreeHeapSize();
	xMinimumEverFreeHeapSpace = xPortGetMinimumEverFreeHeapSize();

	/* Remove compiler warning about xFreeHeapSpace being set but never used. */
	( void ) xFreeHeapSpace;
	( void ) xMinimumEverFreeHeapSpace;
}
/*-----------------------------------------------------------*/

void vAssertCalled( const char * pcFile, unsigned long ulLine )
{
volatile unsigned long ul = 0;

	( void ) pcFile;
	( void ) ulLine;

	taskENTER_CRITICAL();
	{
		/* Set ul to a non-zero value using the debugger to step out of this
		function. */
		while( ul == 0 )
		{
			portNOP();
		}
	}
	taskEXIT_CRITICAL();
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
	#if( mainSELECTED_APPLICATION == 1 )
	{
		/* The full demo includes a software timer demo/test that requires
		prodding periodically from the tick interrupt. */
		vTimerPeriodicISRTests();

		/* Call the periodic queue overwrite from ISR demo. */
		vQueueOverwritePeriodicISRDemo();

		/* Call the periodic event group from ISR demo. */
		vPeriodicEventGroupsProcessing();

		/* Use task notifications from an interrupt. */
		xNotifyTaskFromISR();

		/* Use mutexes from interrupts. */
		vInterruptSemaphorePeriodicTest();
	}
	#endif
}
/*-----------------------------------------------------------*/

void *memcpy( void *pvDest, const void *pvSource, size_t xBytes )
{
/* The compiler used during development seems to err unless these volatiles are
included at -O3 optimisation.  */
volatile unsigned char *pcDest = ( volatile unsigned char * ) pvDest, *pcSource = ( volatile unsigned char * ) pvSource;
size_t x;

	/* Extremely crude standard library implementations in lieu of having a C
	library. */
	if( pvDest != pvSource )
	{
		for( x = 0; x < xBytes; x++ )
		{
			pcDest[ x ] = pcSource[ x ];
		}
	}

	return pvDest;
}
/*-----------------------------------------------------------*/

void *memset( void *pvDest, int iValue, size_t xBytes )
{
/* The compiler used during development seems to err unless these volatiles are
included at -O3 optimisation.  */
volatile unsigned char * volatile pcDest = ( volatile unsigned char * volatile ) pvDest;
volatile size_t x;

	/* Extremely crude standard library implementations in lieu of having a C
	library. */
	for( x = 0; x < xBytes; x++ )
	{
		pcDest[ x ] = ( unsigned char ) iValue;
	}

	return pvDest;
}
/*-----------------------------------------------------------*/

int memcmp( const void *pvMem1, const void *pvMem2, size_t xBytes )
{
const volatile unsigned char *pucMem1 = (const volatile unsigned char *)pvMem1, *pucMem2 = (const volatile unsigned char *)pvMem2;
volatile size_t x;

	/* Extremely crude standard library implementations in lieu of having a C
	library. */
	for( x = 0; x < xBytes; x++ )
	{
		if( pucMem1[ x ] != pucMem2[ x ] )
		{
			break;
		}
	}

	return xBytes - x;
}
/*-----------------------------------------------------------*/

void vInitialiseTimerForRunTimeStats( void )
{
XScuWdt_Config *pxWatchDogInstance;
uint32_t ulValue;
const uint32_t ulMaxDivisor = 0xff, ulDivisorShift = 0x08;

	 pxWatchDogInstance = XScuWdt_LookupConfig( XPAR_SCUWDT_0_DEVICE_ID );
	 XScuWdt_CfgInitialize( &xWatchDogInstance, pxWatchDogInstance, pxWatchDogInstance->BaseAddr );

	 ulValue = XScuWdt_GetControlReg( &xWatchDogInstance );
	 ulValue |= ulMaxDivisor << ulDivisorShift;
	 XScuWdt_SetControlReg( &xWatchDogInstance, ulValue );

	 XScuWdt_LoadWdt( &xWatchDogInstance, UINT_MAX );
	 XScuWdt_SetTimerMode( &xWatchDogInstance );
	 XScuWdt_Start( &xWatchDogInstance );
}
/*-----------------------------------------------------------*/

/* 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;
static StackType_t uxTimerTaskStack[ configTIMER_TASK_STACK_DEPTH ];

	/* 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;
}