/*
    FreeRTOS V8.2.1 - Copyright (C) 2015 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

    ***************************************************************************
     *                                                                       *
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    ***************************************************************************

    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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    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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    1 tab == 4 spaces!
*/

/* 
 * This is a very simple demo that creates two tasks and one queue.  One task
 * (the queue receive task) blocks on the queue to wait for data to arrive, 
 * toggling an LED each time '100' is received.  The other task (the queue send
 * task) repeatedly blocks for a fixed period before sending '100' to the queue
 * (causing the first task to toggle the LED). 
 *
 * For a much more complete and complex example select either the Debug or
 * Debug_with_optimisation build configurations within the HEW IDE. 
*/

/* Hardware specific includes. */
#include "iodefine.h"

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* Priorities at which the tasks are created. */
#define configQUEUE_RECEIVE_TASK_PRIORITY	( tskIDLE_PRIORITY + 1 )
#define	configQUEUE_SEND_TASK_PRIORITY		( tskIDLE_PRIORITY + 2 )

/* The rate at which data is sent to the queue, specified in milliseconds. */
#define mainQUEUE_SEND_FREQUENCY_MS			( 500 / portTICK_PERIOD_MS )

/* The number of items the queue can hold.  This is 1 as the receive task
will remove items as they are added so the send task should always find the
queue empty. */
#define mainQUEUE_LENGTH					( 1 )

/*
 * The tasks as defined at the top of this file.
 */
static void prvQueueReceiveTask( void *pvParameters );
static void prvQueueSendTask( void *pvParameters );

/* The queue used by both tasks. */
static QueueHandle_t xQueue = NULL;

/* This variable is not used by this simple Blinky example.  It is defined 
purely to allow the project to link as it is used by the full project. */
volatile unsigned long ulHighFrequencyTickCount = 0UL;
/*-----------------------------------------------------------*/

void main(void)
{
extern void HardwareSetup( void );

	/* Renesas provided CPU configuration routine.  The clocks are configured in
	here. */
	HardwareSetup();
	
	/* Turn all LEDs off. */
	vParTestInitialise();
	
	/* Create the queue. */
	xQueue = xQueueCreate( mainQUEUE_LENGTH, sizeof( unsigned long ) );

	if( xQueue != NULL )
	{
		/* Start the two tasks as described at the top of this file. */
		xTaskCreate( prvQueueReceiveTask, "Rx", configMINIMAL_STACK_SIZE, NULL, configQUEUE_RECEIVE_TASK_PRIORITY, NULL );
		xTaskCreate( prvQueueSendTask, "TX", configMINIMAL_STACK_SIZE, NULL, configQUEUE_SEND_TASK_PRIORITY, NULL );

		/* Start the tasks running. */
		vTaskStartScheduler();
	}
	
	/* If all is well we will never reach here as the scheduler will now be
	running.  If we do reach here then it is likely that there was insufficient
	heap available for the idle task to be created. */
	for( ;; );
}
/*-----------------------------------------------------------*/

static void prvQueueSendTask( void *pvParameters )
{
TickType_t xNextWakeTime;
const unsigned long ulValueToSend = 100UL;

	/* Initialise xNextWakeTime - this only needs to be done once. */
	xNextWakeTime = xTaskGetTickCount();

	for( ;; )
	{
		/* Place this task in the blocked state until it is time to run again. 
		The block state is specified in ticks, the constant used converts ticks
		to ms. */
		vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS );

		/* Send to the queue - causing the queue receive task to flash its LED.  0
		is used so the send does not block - it shouldn't need to as the queue
		should always be empty here. */
		xQueueSend( xQueue, &ulValueToSend, 0 );
	}
}
/*-----------------------------------------------------------*/

static void prvQueueReceiveTask( void *pvParameters )
{
unsigned long ulReceivedValue;

	for( ;; )
	{
		/* Wait until something arives in the queue - this will block 
		indefinitely provided INCLUDE_vTaskSuspend is set to 1 in
		FreeRTOSConfig.h. */
		xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );

		/*  To get here something must have arrived, but is it the expected
		value?  If it is, toggle the LED. */
		if( ulReceivedValue == 100UL )
		{
			vParTestToggleLED( 0 );
		}
	}
}
/*-----------------------------------------------------------*/

void vApplicationSetupTimerInterrupt( void )
{
	/* Enable compare match timer 0. */
	MSTP( CMT0 ) = 0;
	
	/* Interrupt on compare match. */
	CMT0.CMCR.BIT.CMIE = 1;
	
	/* Set the compare match value. */
	CMT0.CMCOR = ( unsigned short ) ( ( ( configPERIPHERAL_CLOCK_HZ / configTICK_RATE_HZ ) -1 ) / 8 );
	
	/* Divide the PCLK by 8. */
	CMT0.CMCR.BIT.CKS = 0;
	
	/* Enable the interrupt... */
	_IEN( _CMT0_CMI0 ) = 1;
	
	/* ...and set its priority to the application defined kernel priority. */
	_IPR( _CMT0_CMI0 ) = configKERNEL_INTERRUPT_PRIORITY;
	
	/* Start the timer. */
	CMT.CMSTR0.BIT.STR0 = 1;
}
/*-----------------------------------------------------------*/

/* This function is explained by the comments above its prototype at the top
of this file. */
void vApplicationMallocFailedHook( void )
{
	for( ;; );
}
/*-----------------------------------------------------------*/

/* This function is explained by the comments above its prototype at the top
of this file. */
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
	for( ;; );
}
/*-----------------------------------------------------------*/

/* This function is explained by the comments above its prototype at the top
of this file. */
void vApplicationIdleHook( void )
{
	/* Just to prevent the variable getting optimised away. */
	( void ) ulHighFrequencyTickCount;
}
/*-----------------------------------------------------------*/