/*
    FreeRTOS V9.0.0rc2 - 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()?

    http://www.FreeRTOS.org/support - In return for receiving this top quality
    embedded software for free we request you assist our global community by
    participating in the support forum.

    http://www.FreeRTOS.org/training - Investing in training allows your team to
    be as productive as possible as early as possible.  Now you can receive
    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,
    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
    compatible FAT file system, and our tiny thread aware UDP/IP stack.

    http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
    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
    Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
    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
    mission critical applications that require provable dependability.

    1 tab == 4 spaces!
*/

/*
 * This is a very simply blinky style example that can be generated
 * automatically by the Xilinx SDK.
 *
 * The example generates a Tx task, an Rx task, and a queue.  The Tx task
 * simply uses the queue to send a value to the Rx task every 500ms.  The Rx
 * prints out a message each time it receives the value.
 *
 * The demo does little in the way of hardware configuration.  Separate projects
 * are provided that include comprehensive demos which demonstrate additional
 * hardware configuration, and additional FreeRTOS features.  See the following
 * link for more details: http://www.freertos.org/a00090.html#XILINX
 */

/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* Xilinx includes. */
#include "xil_printf.h"
#include "xparameters.h"

/*-----------------------------------------------------------*/

/* The Tx and Rx tasks as described at the top of this file. */
static void prvTxTask( void *pvParameters );
static void prvRxTask( void *pvParameters );

/*-----------------------------------------------------------*/

/* The queue used by the Tx and Rx tasks, as described at the top of this
file. */
static QueueHandle_t xQueue = NULL;

int main( void )
{
	xil_printf( "Hello from Freertos\r\n" );

	/* Create the two tasks.  The Tx task is given a lower priority than the
	Rx task, so the Rx task will leave the Blocked state and pre-empt the Tx
	task as soon as the Tx task places an item in the queue. */
	xTaskCreate( 	prvTxTask, 					/* The function that implements the task. */
					( const char * ) "Tx", 		/* Text name for the task, provided to assist debugging only. */
					configMINIMAL_STACK_SIZE, 	/* The stack allocated to the task. */
					NULL, 						/* The task parameter is not used, so set to NULL. */
					tskIDLE_PRIORITY,			/* The task runs at the idle priority. */
					NULL );

	xTaskCreate( prvRxTask, ( const char * ) "GB",	configMINIMAL_STACK_SIZE, NULL,	tskIDLE_PRIORITY + 1, NULL );

	/* Create the queue used by the tasks.  The Rx task has a higher priority
	than the Tx task, so will preempt the Tx task and remove values from the
	queue as soon as the Tx task writes to the queue - therefore the queue can
	never have more than one item in it. */
	xQueue = xQueueCreate( 	1,						/* There is only one space in the queue. */
							sizeof( uint32_t ) );	/* Each space in the queue is large enough to hold a uint32_t. */

	/* Check the queue was created. */
	configASSERT( xQueue );

	/* Start the tasks and timer running. */
	vTaskStartScheduler();

	/* If all is well, the scheduler will now be running, and the following line
	will never be reached.  If the following line does execute, then there was
	insufficient FreeRTOS heap memory available for the idle and/or timer tasks
	to be created.  See the memory management section on the FreeRTOS web site
	for more details. */
	for( ;; );
}
/*-----------------------------------------------------------*/

static void prvTxTask( void *pvParameters )
{
const TickType_t x500ms = pdMS_TO_TICKS( 500UL );
uint32_t ulValueToSend = 0;

	for( ;; )
	{
		/* Delay for 500ms. */
		vTaskDelay( x500ms );

		/* Send the next value on the queue.  The queue should always be
		empty at this point so a block time of 0 is used. */
		xQueueSend( xQueue,			/* The queue being written to. */
					&ulValueToSend, /* The address of the data being sent. */
					0UL );			/* The block time. */

		ulValueToSend++;
	}
}
/*-----------------------------------------------------------*/

static void prvRxTask( void *pvParameters )
{
uint32_t ulValueReceived;

	for( ;; )
	{
		/* Block to wait for data arriving on the queue. */
		xQueueReceive( 	xQueue,				/* The queue being read. */
						&ulValueReceived,	/* Data is read into this address. */
						portMAX_DELAY );	/* Wait without a timeout for data. */

		/* Print the received data. */
		xil_printf( "Rx task received %d\r\n", ( int ) ulValueReceived );
	}
}