FreeRTOS/Demo/RX200_RX210-RSK_Renesas/RTOSDemo/ButtonAndLCD.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
  * FreeRTOS Kernel V10.2.0
  * Copyright (C) 2019 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!
  */

 /* Scheduler includes. */
 #include "FreeRTOS.h"
 #include "task.h"
 #include "queue.h"
 #include "semphr.h"

 /* Hardware specifics. */
 #include "iodefine.h"
 #include "lcd.h"

 /* States used by the LCD tasks. */
 #define	lcdRIGHT_TO_LEFT	0U
 #define	lcdLEFT_TO_RIGHT	1U
 #define	lcdRUNNING			0U

 /* Characters on each line. */
 #define lcdSTRING_LEN		8

 /* Commands sent from the IRQ to the task controlling the second line of the
 display. */
 #define lcdSHIFT_BACK_COMMAND		0x01U
 #define lcdSTART_STOP_COMMAND		0x02U
 #define lcdSHIFT_FORWARD_COMMAND	0x03U

 /* The length of the queue used to send commands from the ISRs. */
 #define lcdCOMMAND_QUEUE_LENGTH		32U

 /* Defines the minimum time that must pass between consecutive button presses
 to accept a button press as a unique press rather than just a bounce. */
 #define lcdMIN_TIME_BETWEEN_INTERRUPTS_MS ( 125UL / portTICK_PERIOD_MS )

 /* Button interrupt handlers. */
 #pragma interrupt ( prvIRQ1_Handler( vect = 65, enable ) )
 static void prvIRQ1_Handler( void );

 #pragma interrupt ( prvIRQ3_Handler( vect = 67, enable ) )
 static void prvIRQ3_Handler( void );

 #pragma interrupt ( prvIRQ4_Handler(vect = 68, enable ) )
 static void prvIRQ4_Handler( void );

 /*
  * Setup the IO needed for the buttons to generate interrupts.
  */
 static void prvSetupButtonIOAndInterrupts( void );

 /*
  * A task that simply scrolls a string from left to right, then back from the
  * right to the left.  This is done on the first line of the display.
  */
 static void prvLCDTaskLine1( void *pvParameters );

 /*
  * If no buttons are pushed, then this task acts as per prvLCDTaskLine1(), but
  * using the second line of the display.
  *
  * Using the buttons, it is possible to start and stop the scrolling of the
  * text.  Once the scrolling has been stopped, other buttons can be used to
  * manually scroll the text either left or right.
  */
 static void prvLCDTaskLine2( void *pvParameters );

 /*
  * Looks at the direction the string is currently being scrolled in, and moves
  * the index into the portion of the string that can be seen on the display
  * either forward or backward as appropriate.
  */
 static prvScrollString( unsigned char *pucDirection, unsigned short *pusPosition, size_t xStringLength );

 /*
  * Displays lcdSTRING_LEN characters starting from pcString on the line of the
  * display requested by ucLine.
  */
 static void prvDisplayNextString( unsigned char ucLine, char *pcString );

 /*
  * Called from the IRQ interrupts, which are generated on button pushes.  Send
  * ucCommand to the task on the button command queue if
  * lcdMIN_TIME_BETWEEN_INTERRUPTS_MS milliseconds have passed since the button
  * was last pushed (for debouncing).
  */
 static portBASE_TYPE prvSendCommandOnDebouncedInput( TickType_t *pxTimeLastInterrupt, unsigned char ucCommand );

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

 /* The queue used to pass commands from the button interrupt handlers to the
 prvLCDTaskLine2() task. */
 static QueueHandle_t xButtonCommandQueue = NULL;

 /* The mutex used to ensure only one task writes to the display at any one
 time. */
 static SemaphoreHandle_t xLCDMutex = NULL;

 /* The string that is scrolled up and down the first line of the display. */
 static const char cDataString1[] = "        http://www.FreeRTOS.org        ";

 /* The string that is scrolled/nudged up and down the second line of the
 display. */
 static const char cDataString2[] = "........Rx210 Highlights....1.56 DMips/MHz....DSP functions....1.62V-5.5V operation....200 uA/MHz....Up to 512 kBytes Flash....up to 64 kbytes SRAM....EE Dataflash with 100k w/e....1.3 uA in Real Time Clock Mode....Powerful Motor control timer....4 x 16-bit timers....4 x 8-bit timers....Full Real Time Clock calendar with calibration and alarm functions....Up to 16 channels 1 uS 12-bit ADC, with Dual group programmable SCAN, 3 sample and holds, sample accumulate function....DMA controller....Data Transfer Controller....Up to 9 serial Channels....Up to 6 USARTs ( with Simple I2C / SPI )....USART ( with unique Frame based protocol support )....Multimaster IIC....RSPI....Temperature Sensor....Event Link Controller....Comparators....Safety features include CRC....March X....Dual watchdog Timers with window and independent oscillator....ADC self test....I/O Pin Test....Supported with E1 on chip debugger and RSK210 evaluation system....Rx210 Highlights........";

 /* Structures passed into the two tasks to inform them which line to use on the
 display, how long to delay for, and which string to use. */
 struct _LCD_Params xLCDLine1 =
 {
 	LCD_LINE1, 215, ( char * ) cDataString1
 };

 struct _LCD_Params xLCDLine2 =
 {
 	LCD_LINE2, 350, ( char * ) cDataString2
 };


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

 void vStartButtonAndLCDDemo( void )
 {
 	prvSetupButtonIOAndInterrupts();
 	InitialiseDisplay();

 	/* Create the mutex used to guard the LCD. */
 	xLCDMutex = xSemaphoreCreateMutex();
 	configASSERT( xLCDMutex );

 	/* Create the queue used to pass commands from the IRQ interrupts to the
 	prvLCDTaskLine2() task. */
 	xButtonCommandQueue = xQueueCreate( lcdCOMMAND_QUEUE_LENGTH, sizeof( unsigned char ) );
 	configASSERT( xButtonCommandQueue );

 	/* Start the two tasks as described at the top of this file. */
 	xTaskCreate( prvLCDTaskLine1, "LCD1", configMINIMAL_STACK_SIZE * 3, ( void * ) &xLCDLine1, tskIDLE_PRIORITY + 1, NULL );
 	xTaskCreate( prvLCDTaskLine2, "LCD2", configMINIMAL_STACK_SIZE * 3, ( void * ) &xLCDLine2, tskIDLE_PRIORITY + 2, NULL );
 }
 /*-----------------------------------------------------------*/

 static void prvLCDTaskLine1( void *pvParameters )
 {
 struct _LCD_Params *pxLCDParamaters = ( struct _LCD_Params * ) pvParameters;
 unsigned short usPosition = 0U;
 unsigned char ucDirection = lcdRIGHT_TO_LEFT;

 	for( ;; )
 	{
 		vTaskDelay( pxLCDParamaters->Speed / portTICK_PERIOD_MS );

 		/* Write the string. */
 		prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );

 		/* Move the string in whichever direction the scroll is currently going
 		in. */
 		prvScrollString( &ucDirection, &usPosition, strlen( pxLCDParamaters->ptr_str ) );
 	}
 }
 /*-----------------------------------------------------------*/

 static void prvLCDTaskLine2( void *pvParameters )
 {
 struct _LCD_Params *pxLCDParamaters = ( struct _LCD_Params * ) pvParameters;
 unsigned short usPosition = 0U;
 unsigned char ucDirection = lcdRIGHT_TO_LEFT, ucStatus = lcdRUNNING, ucQueueData;
 TickType_t xDelayTicks = ( pxLCDParamaters->Speed / portTICK_PERIOD_MS );

 	for(;;)
 	{
 		/* Wait for a message from an IRQ handler. */
 		if( xQueueReceive( xButtonCommandQueue, &ucQueueData, xDelayTicks ) != pdPASS )
 		{
 			/* A message was not received before xDelayTicks ticks passed, so
 			generate the next string to display and display it. */
 			prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );

 			/* Move the string in whichever direction the scroll is currently
 			going in. */
 			prvScrollString( &ucDirection, &usPosition, strlen( pxLCDParamaters->ptr_str ) );
 		}
 		else
 		{
 			/* A command was received.  Process it. */
 			switch( ucQueueData )
 			{
 				case lcdSTART_STOP_COMMAND :

 					/* If the LCD is running, top it.  If the LCD is stopped, start
 					it. */
 					ucStatus = !ucStatus;

 					if( ucStatus == lcdRUNNING )
 					{
 						xDelayTicks = ( pxLCDParamaters->Speed / portTICK_PERIOD_MS );
 					}
 					else
 					{
 						xDelayTicks = portMAX_DELAY;
 					}
 					break;


 				case lcdSHIFT_BACK_COMMAND :

 					if( ucStatus != lcdRUNNING )
 					{
 						/* If not already at the start of the display.... */
 						if( usPosition != 0U )
 						{
 							/* ....move the display position back by one char. */
 							usPosition--;
 							prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
 						}
 					}
 					break;


 				case lcdSHIFT_FORWARD_COMMAND :

 					if( ucStatus != lcdRUNNING )
 					{
 						/* If not already at the end of the display.... */
 						if( usPosition != ( strlen( pxLCDParamaters->ptr_str ) - ( lcdSTRING_LEN - 1 ) ) )
 						{
 							/* ....move the display position forward by one
 							char. */
 							usPosition++;
 							prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
 						}
 					}
 					break;
 			}
 		}
 	}
 }
 /*-----------------------------------------------------------*/

 void prvSetupButtonIOAndInterrupts( void )
 {
 	/* Configure SW 1-3 pin settings */
 	PORT3.PDR.BIT.B1 = 0;		/* Switch 1 - Port 3.1 - IRQ1 */
 	PORT3.PDR.BIT.B3 = 0;		/* Switch 2 - Port 3.3 - IRQ3 */
 	PORT3.PDR.BIT.B4 = 0;		/* Switch 3 - Port 3.4 - IRQ4 */

 	PORT3.PMR.BIT.B1 = 1;
 	PORT3.PMR.BIT.B3 = 1;
 	PORT3.PMR.BIT.B4 = 1;

 	MPC.PWPR.BIT.B0WI = 0;		/* Writing to the PFSWE bit is enabled */
 	MPC.PWPR.BIT.PFSWE = 1;		/* Writing to the PFS register is enabled */
 	MPC.P31PFS.BIT.ISEL = 1;
 	MPC.P33PFS.BIT.ISEL = 1;
 	MPC.P34PFS.BIT.ISEL = 1;

 	/* IRQ1	*/
 	ICU.IER[ 0x08 ].BIT.IEN1 = 1;
 	ICU.IPR[ 65 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
 	ICU.IR[ 65 ].BIT.IR = 0;
 	ICU.IRQCR[ 1 ].BIT.IRQMD = 2;	/* Rising edge */

 	/* IRQ3	*/
 	ICU.IER[ 0x08 ].BIT.IEN3 = 1;
 	ICU.IPR[ 67 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
 	ICU.IR[ 67 ].BIT.IR = 0;
 	ICU.IRQCR[ 3 ].BIT.IRQMD = 2;	/* Rising edge */

 	/* IRQ4	*/
 	ICU.IER[ 0x08 ].BIT.IEN4 = 1;
 	ICU.IPR[ 68 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
 	ICU.IR[ 68 ].BIT.IR = 0;
 	ICU.IRQCR[ 4 ].BIT.IRQMD = 2;	/* Rising edge */
 }
 /*-----------------------------------------------------------*/

 static prvScrollString( unsigned char *pucDirection, unsigned short *pusPosition, size_t xStringLength )
 {
 	/* Check which way to scroll. */
 	if( *pucDirection == lcdRIGHT_TO_LEFT )
 	{
 		/* Move to the next character. */
 		( *pusPosition )++;

 		/* Has the end of the string been reached? */
 		if( ( *pusPosition ) == ( xStringLength - ( lcdSTRING_LEN - 1 ) ) )
 		{
 			/* Switch direction. */
 			*pucDirection = lcdLEFT_TO_RIGHT;
 			( *pusPosition )--;
 		}
 	}
 	else
 	{
 		/* Move (backward) to the next character. */
 		( *pusPosition )--;
 		if( *pusPosition == 0U )
 		{
 			/* Switch Direction. */
 			*pucDirection = lcdRIGHT_TO_LEFT;
 		}
 	}
 }
 /*-----------------------------------------------------------*/

 static void prvDisplayNextString( unsigned char ucLine, char *pcString )
 {
 static char cSingleLine[ lcdSTRING_LEN + 1 ];

 	xSemaphoreTake( xLCDMutex, portMAX_DELAY );
 	strncpy( cSingleLine, pcString, lcdSTRING_LEN );
 	DisplayString( ucLine, cSingleLine );
 	xSemaphoreGive( xLCDMutex );
 }
 /*-----------------------------------------------------------*/

 static portBASE_TYPE prvSendCommandOnDebouncedInput( TickType_t *pxTimeLastInterrupt, unsigned char ucCommand )
 {
 portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
 TickType_t xCurrentTickCount;

 	/* Check the time now for debouncing purposes. */
 	xCurrentTickCount = xTaskGetTickCountFromISR();

 	/* Has enough time passed since the button was last push to accept it as a
 	unique press? */
 	if( ( xCurrentTickCount - *pxTimeLastInterrupt ) > lcdMIN_TIME_BETWEEN_INTERRUPTS_MS )
 	{
 		xQueueSendToBackFromISR( xButtonCommandQueue, &ucCommand, &xHigherPriorityTaskWoken );
 	}

 	/* Remember the time now, so debounce can be performed again on the next
 	interrupt. */
 	*pxTimeLastInterrupt = xCurrentTickCount;

 	return xHigherPriorityTaskWoken;
 }
 /*-----------------------------------------------------------*/

 static void prvIRQ1_Handler( void )
 {
 static TickType_t xTimeLastInterrupt = 0UL;
 static const unsigned char ucCommand = lcdSHIFT_BACK_COMMAND;
 portBASE_TYPE xHigherPriorityTaskWoken;

 	xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
 	portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
 }
 /*-----------------------------------------------------------*/

 static void prvIRQ3_Handler(void)
 {
 static TickType_t xTimeLastInterrupt = 0UL;
 static const unsigned char ucCommand = lcdSTART_STOP_COMMAND;
 portBASE_TYPE xHigherPriorityTaskWoken;

 	xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
 	portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
 }
 /*-----------------------------------------------------------*/

 static void prvIRQ4_Handler(void)
 {
 static TickType_t xTimeLastInterrupt = 0UL;
 static const unsigned char ucCommand = lcdSHIFT_FORWARD_COMMAND;
 portBASE_TYPE xHigherPriorityTaskWoken;

 	xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
 	portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
 }
	/*
	* FreeRTOS Kernel V10.2.0
	* Copyright (C) 2019 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!
	*/

	/* Scheduler includes. */
	#include "FreeRTOS.h"
	#include "task.h"
	#include "queue.h"
	#include "semphr.h"

	/* Hardware specifics. */
	#include "iodefine.h"
	#include "lcd.h"

	/* States used by the LCD tasks. */
	#define lcdRIGHT_TO_LEFT 0U
	#define lcdLEFT_TO_RIGHT 1U
	#define lcdRUNNING 0U

	/* Characters on each line. */
	#define lcdSTRING_LEN 8

	/* Commands sent from the IRQ to the task controlling the second line of the
	display. */
	#define lcdSHIFT_BACK_COMMAND 0x01U
	#define lcdSTART_STOP_COMMAND 0x02U
	#define lcdSHIFT_FORWARD_COMMAND 0x03U

	/* The length of the queue used to send commands from the ISRs. */
	#define lcdCOMMAND_QUEUE_LENGTH 32U

	/* Defines the minimum time that must pass between consecutive button presses
	to accept a button press as a unique press rather than just a bounce. */
	#define lcdMIN_TIME_BETWEEN_INTERRUPTS_MS ( 125UL / portTICK_PERIOD_MS )

	/* Button interrupt handlers. */
	#pragma interrupt ( prvIRQ1_Handler( vect = 65, enable ) )
	static void prvIRQ1_Handler( void );

	#pragma interrupt ( prvIRQ3_Handler( vect = 67, enable ) )
	static void prvIRQ3_Handler( void );

	#pragma interrupt ( prvIRQ4_Handler(vect = 68, enable ) )
	static void prvIRQ4_Handler( void );

	/*
	* Setup the IO needed for the buttons to generate interrupts.
	*/
	static void prvSetupButtonIOAndInterrupts( void );

	/*
	* A task that simply scrolls a string from left to right, then back from the
	* right to the left. This is done on the first line of the display.
	*/
	static void prvLCDTaskLine1( void *pvParameters );

	/*
	* If no buttons are pushed, then this task acts as per prvLCDTaskLine1(), but
	* using the second line of the display.
	*
	* Using the buttons, it is possible to start and stop the scrolling of the
	* text. Once the scrolling has been stopped, other buttons can be used to
	* manually scroll the text either left or right.
	*/
	static void prvLCDTaskLine2( void *pvParameters );

	/*
	* Looks at the direction the string is currently being scrolled in, and moves
	* the index into the portion of the string that can be seen on the display
	* either forward or backward as appropriate.
	*/
	static prvScrollString( unsigned char pucDirection, unsigned short pusPosition, size_t xStringLength );

	/*
	* Displays lcdSTRING_LEN characters starting from pcString on the line of the
	* display requested by ucLine.
	*/
	static void prvDisplayNextString( unsigned char ucLine, char *pcString );

	/*
	* Called from the IRQ interrupts, which are generated on button pushes. Send
	* ucCommand to the task on the button command queue if
	* lcdMIN_TIME_BETWEEN_INTERRUPTS_MS milliseconds have passed since the button
	* was last pushed (for debouncing).
	*/
	static portBASE_TYPE prvSendCommandOnDebouncedInput( TickType_t *pxTimeLastInterrupt, unsigned char ucCommand );

	/-----------------------------------------------------------/

	/* The queue used to pass commands from the button interrupt handlers to the
	prvLCDTaskLine2() task. */
	static QueueHandle_t xButtonCommandQueue = NULL;

	/* The mutex used to ensure only one task writes to the display at any one
	time. */
	static SemaphoreHandle_t xLCDMutex = NULL;

	/* The string that is scrolled up and down the first line of the display. */
	static const char cDataString1[] = " http://www.FreeRTOS.org ";

	/* The string that is scrolled/nudged up and down the second line of the
	display. */
	static const char cDataString2[] = "........Rx210 Highlights....1.56 DMips/MHz....DSP functions....1.62V-5.5V operation....200 uA/MHz....Up to 512 kBytes Flash....up to 64 kbytes SRAM....EE Dataflash with 100k w/e....1.3 uA in Real Time Clock Mode....Powerful Motor control timer....4 x 16-bit timers....4 x 8-bit timers....Full Real Time Clock calendar with calibration and alarm functions....Up to 16 channels 1 uS 12-bit ADC, with Dual group programmable SCAN, 3 sample and holds, sample accumulate function....DMA controller....Data Transfer Controller....Up to 9 serial Channels....Up to 6 USARTs ( with Simple I2C / SPI )....USART ( with unique Frame based protocol support )....Multimaster IIC....RSPI....Temperature Sensor....Event Link Controller....Comparators....Safety features include CRC....March X....Dual watchdog Timers with window and independent oscillator....ADC self test....I/O Pin Test....Supported with E1 on chip debugger and RSK210 evaluation system....Rx210 Highlights........";

	/* Structures passed into the two tasks to inform them which line to use on the
	display, how long to delay for, and which string to use. */
	struct _LCD_Params xLCDLine1 =
	{
	LCD_LINE1, 215, ( char * ) cDataString1
	};

	struct _LCD_Params xLCDLine2 =
	{
	LCD_LINE2, 350, ( char * ) cDataString2
	};


	/-----------------------------------------------------------/

	void vStartButtonAndLCDDemo( void )
	{
	prvSetupButtonIOAndInterrupts();
	InitialiseDisplay();

	/* Create the mutex used to guard the LCD. */
	xLCDMutex = xSemaphoreCreateMutex();
	configASSERT( xLCDMutex );

	/* Create the queue used to pass commands from the IRQ interrupts to the
	prvLCDTaskLine2() task. */
	xButtonCommandQueue = xQueueCreate( lcdCOMMAND_QUEUE_LENGTH, sizeof( unsigned char ) );
	configASSERT( xButtonCommandQueue );

	/* Start the two tasks as described at the top of this file. */
	xTaskCreate( prvLCDTaskLine1, "LCD1", configMINIMAL_STACK_SIZE * 3, ( void * ) &xLCDLine1, tskIDLE_PRIORITY + 1, NULL );
	xTaskCreate( prvLCDTaskLine2, "LCD2", configMINIMAL_STACK_SIZE * 3, ( void * ) &xLCDLine2, tskIDLE_PRIORITY + 2, NULL );
	}
	/-----------------------------------------------------------/

	static void prvLCDTaskLine1( void *pvParameters )
	{
	struct _LCD_Params pxLCDParamaters = ( struct _LCD_Params ) pvParameters;
	unsigned short usPosition = 0U;
	unsigned char ucDirection = lcdRIGHT_TO_LEFT;

	for( ;; )
	{
	vTaskDelay( pxLCDParamaters->Speed / portTICK_PERIOD_MS );

	/* Write the string. */
	prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );

	/* Move the string in whichever direction the scroll is currently going
	in. */
	prvScrollString( &ucDirection, &usPosition, strlen( pxLCDParamaters->ptr_str ) );
	}
	}
	/-----------------------------------------------------------/

	static void prvLCDTaskLine2( void *pvParameters )
	{
	struct _LCD_Params pxLCDParamaters = ( struct _LCD_Params ) pvParameters;
	unsigned short usPosition = 0U;
	unsigned char ucDirection = lcdRIGHT_TO_LEFT, ucStatus = lcdRUNNING, ucQueueData;
	TickType_t xDelayTicks = ( pxLCDParamaters->Speed / portTICK_PERIOD_MS );

	for(;;)
	{
	/* Wait for a message from an IRQ handler. */
	if( xQueueReceive( xButtonCommandQueue, &ucQueueData, xDelayTicks ) != pdPASS )
	{
	/* A message was not received before xDelayTicks ticks passed, so
	generate the next string to display and display it. */
	prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );

	/* Move the string in whichever direction the scroll is currently
	going in. */
	prvScrollString( &ucDirection, &usPosition, strlen( pxLCDParamaters->ptr_str ) );
	}
	else
	{
	/* A command was received. Process it. */
	switch( ucQueueData )
	{
	case lcdSTART_STOP_COMMAND :

	/* If the LCD is running, top it. If the LCD is stopped, start
	it. */
	ucStatus = !ucStatus;

	if( ucStatus == lcdRUNNING )
	{
	xDelayTicks = ( pxLCDParamaters->Speed / portTICK_PERIOD_MS );
	}
	else
	{
	xDelayTicks = portMAX_DELAY;
	}
	break;


	case lcdSHIFT_BACK_COMMAND :

	if( ucStatus != lcdRUNNING )
	{
	/* If not already at the start of the display.... */
	if( usPosition != 0U )
	{
	/* ....move the display position back by one char. */
	usPosition--;
	prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
	}
	}
	break;


	case lcdSHIFT_FORWARD_COMMAND :

	if( ucStatus != lcdRUNNING )
	{
	/* If not already at the end of the display.... */
	if( usPosition != ( strlen( pxLCDParamaters->ptr_str ) - ( lcdSTRING_LEN - 1 ) ) )
	{
	/* ....move the display position forward by one
	char. */
	usPosition++;
	prvDisplayNextString( pxLCDParamaters->Line, &( pxLCDParamaters->ptr_str[ usPosition ] ) );
	}
	}
	break;
	}
	}
	}
	}
	/-----------------------------------------------------------/

	void prvSetupButtonIOAndInterrupts( void )
	{
	/* Configure SW 1-3 pin settings */
	PORT3.PDR.BIT.B1 = 0; /* Switch 1 - Port 3.1 - IRQ1 */
	PORT3.PDR.BIT.B3 = 0; /* Switch 2 - Port 3.3 - IRQ3 */
	PORT3.PDR.BIT.B4 = 0; /* Switch 3 - Port 3.4 - IRQ4 */

	PORT3.PMR.BIT.B1 = 1;
	PORT3.PMR.BIT.B3 = 1;
	PORT3.PMR.BIT.B4 = 1;

	MPC.PWPR.BIT.B0WI = 0; /* Writing to the PFSWE bit is enabled */
	MPC.PWPR.BIT.PFSWE = 1; /* Writing to the PFS register is enabled */
	MPC.P31PFS.BIT.ISEL = 1;
	MPC.P33PFS.BIT.ISEL = 1;
	MPC.P34PFS.BIT.ISEL = 1;

	/* IRQ1 */
	ICU.IER[ 0x08 ].BIT.IEN1 = 1;
	ICU.IPR[ 65 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
	ICU.IR[ 65 ].BIT.IR = 0;
	ICU.IRQCR[ 1 ].BIT.IRQMD = 2; /* Rising edge */

	/* IRQ3 */
	ICU.IER[ 0x08 ].BIT.IEN3 = 1;
	ICU.IPR[ 67 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
	ICU.IR[ 67 ].BIT.IR = 0;
	ICU.IRQCR[ 3 ].BIT.IRQMD = 2; /* Rising edge */

	/* IRQ4 */
	ICU.IER[ 0x08 ].BIT.IEN4 = 1;
	ICU.IPR[ 68 ].BIT.IPR = configMAX_SYSCALL_INTERRUPT_PRIORITY - 1;
	ICU.IR[ 68 ].BIT.IR = 0;
	ICU.IRQCR[ 4 ].BIT.IRQMD = 2; /* Rising edge */
	}
	/-----------------------------------------------------------/

	static prvScrollString( unsigned char pucDirection, unsigned short pusPosition, size_t xStringLength )
	{
	/* Check which way to scroll. */
	if( *pucDirection == lcdRIGHT_TO_LEFT )
	{
	/* Move to the next character. */
	( *pusPosition )++;

	/* Has the end of the string been reached? */
	if( ( *pusPosition ) == ( xStringLength - ( lcdSTRING_LEN - 1 ) ) )
	{
	/* Switch direction. */
	*pucDirection = lcdLEFT_TO_RIGHT;
	( *pusPosition )--;
	}
	}
	else
	{
	/* Move (backward) to the next character. */
	( *pusPosition )--;
	if( *pusPosition == 0U )
	{
	/* Switch Direction. */
	*pucDirection = lcdRIGHT_TO_LEFT;
	}
	}
	}
	/-----------------------------------------------------------/

	static void prvDisplayNextString( unsigned char ucLine, char *pcString )
	{
	static char cSingleLine[ lcdSTRING_LEN + 1 ];

	xSemaphoreTake( xLCDMutex, portMAX_DELAY );
	strncpy( cSingleLine, pcString, lcdSTRING_LEN );
	DisplayString( ucLine, cSingleLine );
	xSemaphoreGive( xLCDMutex );
	}
	/-----------------------------------------------------------/

	static portBASE_TYPE prvSendCommandOnDebouncedInput( TickType_t *pxTimeLastInterrupt, unsigned char ucCommand )
	{
	portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
	TickType_t xCurrentTickCount;

	/* Check the time now for debouncing purposes. */
	xCurrentTickCount = xTaskGetTickCountFromISR();

	/* Has enough time passed since the button was last push to accept it as a
	unique press? */
	if( ( xCurrentTickCount - *pxTimeLastInterrupt ) > lcdMIN_TIME_BETWEEN_INTERRUPTS_MS )
	{
	xQueueSendToBackFromISR( xButtonCommandQueue, &ucCommand, &xHigherPriorityTaskWoken );
	}

	/* Remember the time now, so debounce can be performed again on the next
	interrupt. */
	*pxTimeLastInterrupt = xCurrentTickCount;

	return xHigherPriorityTaskWoken;
	}
	/-----------------------------------------------------------/

	static void prvIRQ1_Handler( void )
	{
	static TickType_t xTimeLastInterrupt = 0UL;
	static const unsigned char ucCommand = lcdSHIFT_BACK_COMMAND;
	portBASE_TYPE xHigherPriorityTaskWoken;

	xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
	portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
	}
	/-----------------------------------------------------------/

	static void prvIRQ3_Handler(void)
	{
	static TickType_t xTimeLastInterrupt = 0UL;
	static const unsigned char ucCommand = lcdSTART_STOP_COMMAND;
	portBASE_TYPE xHigherPriorityTaskWoken;

	xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
	portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
	}
	/-----------------------------------------------------------/

	static void prvIRQ4_Handler(void)
	{
	static TickType_t xTimeLastInterrupt = 0UL;
	static const unsigned char ucCommand = lcdSHIFT_FORWARD_COMMAND;
	portBASE_TYPE xHigherPriorityTaskWoken;

	xHigherPriorityTaskWoken = prvSendCommandOnDebouncedInput( &xTimeLastInterrupt, ucCommand );
	portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
	}