/*
    FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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

    1 tab == 4 spaces!

    ***************************************************************************
     *                                                                       *
     *    Having a problem?  Start by reading the FAQ "My application does   *
     *    not run, what could be wrong?".  Have you defined configASSERT()?  *
     *                                                                       *
     *    http://www.FreeRTOS.org/FAQHelp.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                              *
     *                                                                       *
    ***************************************************************************

    ***************************************************************************
     *                                                                       *
     *   Investing in training allows your team to be as productive as       *
     *   possible as early as possible, lowering your overall development    *
     *   cost, and enabling you to bring a more robust product to market     *
     *   earlier than would otherwise be possible.  Richard Barry is both    *
     *   the architect and key author of FreeRTOS, and so also the world's   *
     *   leading authority on what is the world's most popular real time     *
     *   kernel for deeply embedded MCU designs.  Obtaining your training    *
     *   from Richard ensures your team will gain directly from his in-depth *
     *   product knowledge and years of usage experience.  Contact Real Time *
     *   Engineers Ltd to enquire about the FreeRTOS Masterclass, presented  *
     *   by Richard Barry:  http://www.FreeRTOS.org/contact
     *                                                                       *
    ***************************************************************************

    ***************************************************************************
     *                                                                       *
     *    You are receiving this top quality software for free.  Please play *
     *    fair and reciprocate by reporting any suspected issues and         *
     *    participating in the community forum:                              *
     *    http://www.FreeRTOS.org/support                                    *
     *                                                                       *
     *    Thank you!                                                         *
     *                                                                       *
    ***************************************************************************

    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
    license and Real Time Engineers Ltd. contact details.

    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 demo application file demonstrates the use of queues to pass data
 * between co-routines.
 *
 * N represents the number of 'fixed delay' co-routines that are created and
 * is set during initialisation.
 *
 * N 'fixed delay' co-routines are created that just block for a fixed
 * period then post the number of an LED onto a queue.  Each such co-routine
 * uses a different block period.  A single 'flash' co-routine is also created
 * that blocks on the same queue, waiting for the number of the next LED it
 * should flash.  Upon receiving a number it simply toggle the instructed LED
 * then blocks on the queue once more.  In this manner each LED from LED 0 to
 * LED N-1 is caused to flash at a different rate.
 *
 * The 'fixed delay' co-routines are created with co-routine priority 0.  The
 * flash co-routine is created with co-routine priority 1.  This means that
 * the queue should never contain more than a single item.  This is because
 * posting to the queue will unblock the 'flash' co-routine, and as this has
 * a priority greater than the tasks posting to the queue it is guaranteed to
 * have emptied the queue and blocked once again before the queue can contain
 * any more date.  An error is indicated if an attempt to post data to the
 * queue fails - indicating that the queue is already full.
 *
 */

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "croutine.h"
#include "queue.h"

/* Demo application includes. */
#include "partest.h"
#include "crflash.h"

/* The queue should only need to be of length 1.  See the description at the
top of the file. */
#define crfQUEUE_LENGTH		1

#define crfFIXED_DELAY_PRIORITY		0
#define crfFLASH_PRIORITY			1

/* Only one flash co-routine is created so the index is not significant. */
#define crfFLASH_INDEX				0

/* Don't allow more than crfMAX_FLASH_TASKS 'fixed delay' co-routines to be
created. */
#define crfMAX_FLASH_TASKS			8

/* We don't want to block when posting to the queue. */
#define crfPOSTING_BLOCK_TIME		0

/*
 * The 'fixed delay' co-routine as described at the top of the file.
 */
static void prvFixedDelayCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex );

/*
 * The 'flash' co-routine as described at the top of the file.
 */
static void prvFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex );

/* The queue used to pass data between the 'fixed delay' co-routines and the
'flash' co-routine. */
static QueueHandle_t xFlashQueue;

/* This will be set to pdFALSE if we detect an error. */
static BaseType_t xCoRoutineFlashStatus = pdPASS;

/*-----------------------------------------------------------*/

/*
 * See the header file for details.
 */
void vStartFlashCoRoutines( UBaseType_t uxNumberToCreate )
{
UBaseType_t uxIndex;

	if( uxNumberToCreate > crfMAX_FLASH_TASKS )
	{
		uxNumberToCreate = crfMAX_FLASH_TASKS;
	}

	/* Create the queue used to pass data between the co-routines. */
	xFlashQueue = xQueueCreate( crfQUEUE_LENGTH, sizeof( UBaseType_t ) );

	if( xFlashQueue )
	{
		/* Create uxNumberToCreate 'fixed delay' co-routines. */
		for( uxIndex = 0; uxIndex < uxNumberToCreate; uxIndex++ )
		{
			xCoRoutineCreate( prvFixedDelayCoRoutine, crfFIXED_DELAY_PRIORITY, uxIndex );
		}

		/* Create the 'flash' co-routine. */
		xCoRoutineCreate( prvFlashCoRoutine, crfFLASH_PRIORITY, crfFLASH_INDEX );
	}
}
/*-----------------------------------------------------------*/

static void prvFixedDelayCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{
/* Even though this is a co-routine the xResult variable does not need to be
static as we do not need it to maintain its state between blocks. */
BaseType_t xResult;
/* The uxIndex parameter of the co-routine function is used as an index into
the xFlashRates array to obtain the delay period to use. */
static const TickType_t xFlashRates[ crfMAX_FLASH_TASKS ] = { 150 / portTICK_PERIOD_MS,
																200 / portTICK_PERIOD_MS,
																250 / portTICK_PERIOD_MS,
																300 / portTICK_PERIOD_MS,
																350 / portTICK_PERIOD_MS,
																400 / portTICK_PERIOD_MS,
																450 / portTICK_PERIOD_MS,
																500  / portTICK_PERIOD_MS };

	/* Co-routines MUST start with a call to crSTART. */
	crSTART( xHandle );

	for( ;; )
	{
		/* Post our uxIndex value onto the queue.  This is used as the LED to
		flash. */
		crQUEUE_SEND( xHandle, xFlashQueue, ( void * ) &uxIndex, crfPOSTING_BLOCK_TIME, &xResult );

		if( xResult != pdPASS )
		{
			/* For the reasons stated at the top of the file we should always
			find that we can post to the queue.  If we could not then an error
			has occurred. */
			xCoRoutineFlashStatus = pdFAIL;
		}

		crDELAY( xHandle, xFlashRates[ uxIndex ] );
	}

	/* Co-routines MUST end with a call to crEND. */
	crEND();
}
/*-----------------------------------------------------------*/

static void prvFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
{
/* Even though this is a co-routine the variable do not need to be
static as we do not need it to maintain their state between blocks. */
BaseType_t xResult;
UBaseType_t uxLEDToFlash;

	/* Co-routines MUST start with a call to crSTART. */
	crSTART( xHandle );
	( void ) uxIndex;
	
	for( ;; )
	{
		/* Block to wait for the number of the LED to flash. */
		crQUEUE_RECEIVE( xHandle, xFlashQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );		

		if( xResult != pdPASS )
		{
			/* We would not expect to wake unless we received something. */
			xCoRoutineFlashStatus = pdFAIL;
		}
		else
		{
			/* We received the number of an LED to flash - flash it! */
			vParTestToggleLED( uxLEDToFlash );
		}
	}

	/* Co-routines MUST end with a call to crEND. */
	crEND();
}
/*-----------------------------------------------------------*/

BaseType_t xAreFlashCoRoutinesStillRunning( void )
{
	/* Return pdPASS or pdFAIL depending on whether an error has been detected
	or not. */
	return xCoRoutineFlashStatus;
}