/*
	FreeRTOS.org V5.1.0 - Copyright (C) 2003-2008 Richard Barry.

	This file is part of the FreeRTOS.org distribution.

	FreeRTOS.org is free software; you can redistribute it and/or modify
	it under the terms of the GNU General Public License as published by
	the Free Software Foundation; either version 2 of the License, or
	(at your option) any later version.

	FreeRTOS.org 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.  See the
	GNU General Public License for more details.

	You should have received a copy of the GNU General Public License
	along with FreeRTOS.org; if not, write to the Free Software
	Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

	A special exception to the GPL can be applied should you wish to distribute
	a combined work that includes FreeRTOS.org, without being obliged to provide
	the source code for any proprietary components.  See the licensing section 
	of http://www.FreeRTOS.org for full details of how and when the exception
	can be applied.

    ***************************************************************************
    ***************************************************************************
    *                                                                         *
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    * and even write all or part of your application on your behalf.          *
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	Please ensure to read the configuration and relevant port sections of the
	online documentation.

	http://www.FreeRTOS.org - Documentation, latest information, license and 
	contact details.

	http://www.SafeRTOS.com - A version that is certified for use in safety 
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*/

/*
Changes from V3.0.0

Changes from V3.0.1
*/

/*
 * Instead of the normal single demo application, the PIC18F demo is split 
 * into several smaller programs of which this is the first.  This enables the 
 * demo's to be executed on the RAM limited PIC-devices.
 *
 * The Demo1 project is configured for a PIC18F4620 device.  Main.c starts 9 
 * tasks (including the idle task).

 * This first demo is included to do a quick check on the FreeRTOS
 * installation. It is also included to demonstrate a minimal project-setup
 * to use FreeRTOS in a wizC environment.
 *
 * Eight independant tasks are created. All tasks share the same taskcode.
 * Each task blinks a different led on portB. The blinkrate for each task
 * is different, but chosen in such a way that portB will show a binary
 * counter pattern. All blinkrates are derived from a single master-rate.
 * By default, this  masterrate is set to 100 milliseconds. Although such
 * a low value will make it almost impossible to see some of the leds
 * actually blink, it is a good value when using the wizC-simulator.
 * When testing on a real chip, changing the value to eg. 500 milliseconds
 * would be appropiate.
 */
 
/* Scheduler include files. */
#include <FreeRTOS.h>
#include <task.h>

#define mainBLINK_LED_INTERVAL	( ( portTickType ) 100 / ( portTICK_RATE_MS ) )

/* The LED that is flashed by the B0 task. */
#define mainBLINK_LED0_PORT		LATD
#define mainBLINK_LED0_TRIS		TRISD
#define mainBLINK_LED0_PIN		0
#define mainBLINK_LED0_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED0_PIN))

/* The LED that is flashed by the B1 task. */
#define mainBLINK_LED1_PORT		LATD
#define mainBLINK_LED1_TRIS		TRISD
#define mainBLINK_LED1_PIN		1
#define mainBLINK_LED1_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED1_PIN))

/* The LED that is flashed by the B2 task. */
#define mainBLINK_LED2_PORT		LATD
#define mainBLINK_LED2_TRIS		TRISD
#define mainBLINK_LED2_PIN		2
#define mainBLINK_LED2_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED2_PIN))

/* The LED that is flashed by the B3 task. */
#define mainBLINK_LED3_PORT		LATD
#define mainBLINK_LED3_TRIS		TRISD
#define mainBLINK_LED3_PIN		3
#define mainBLINK_LED3_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED3_PIN))

/* The LED that is flashed by the B4 task. */
#define mainBLINK_LED4_PORT		LATD
#define mainBLINK_LED4_TRIS		TRISD
#define mainBLINK_LED4_PIN		4
#define mainBLINK_LED4_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED4_PIN))

/* The LED that is flashed by the B5 task. */
#define mainBLINK_LED5_PORT		LATD
#define mainBLINK_LED5_TRIS		TRISD
#define mainBLINK_LED5_PIN		5
#define mainBLINK_LED5_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED5_PIN))

/* The LED that is flashed by the B6 task. */
#define mainBLINK_LED6_PORT		LATD
#define mainBLINK_LED6_TRIS		TRISD
#define mainBLINK_LED6_PIN		6
#define mainBLINK_LED6_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED6_PIN))

/* The LED that is flashed by the B7 task. */
#define mainBLINK_LED7_PORT		LATD
#define mainBLINK_LED7_TRIS		TRISD
#define mainBLINK_LED7_PIN		7
#define mainBLINK_LED7_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED7_PIN))

typedef struct {
	unsigned char *port;
	unsigned char *tris;
	unsigned char pin;
	portTickType  interval;
} SBLINK;

const SBLINK sled0 = {&mainBLINK_LED0_PORT, &mainBLINK_LED0_TRIS, mainBLINK_LED0_PIN, mainBLINK_LED0_INTERVAL};
const SBLINK sled1 = {&mainBLINK_LED1_PORT, &mainBLINK_LED1_TRIS, mainBLINK_LED1_PIN, mainBLINK_LED1_INTERVAL};
const SBLINK sled2 = {&mainBLINK_LED2_PORT, &mainBLINK_LED2_TRIS, mainBLINK_LED2_PIN, mainBLINK_LED2_INTERVAL};
const SBLINK sled3 = {&mainBLINK_LED3_PORT, &mainBLINK_LED3_TRIS, mainBLINK_LED3_PIN, mainBLINK_LED3_INTERVAL};
const SBLINK sled4 = {&mainBLINK_LED4_PORT, &mainBLINK_LED4_TRIS, mainBLINK_LED4_PIN, mainBLINK_LED4_INTERVAL};
const SBLINK sled5 = {&mainBLINK_LED5_PORT, &mainBLINK_LED5_TRIS, mainBLINK_LED5_PIN, mainBLINK_LED5_INTERVAL};
const SBLINK sled6 = {&mainBLINK_LED6_PORT, &mainBLINK_LED6_TRIS, mainBLINK_LED6_PIN, mainBLINK_LED6_INTERVAL};
const SBLINK sled7 = {&mainBLINK_LED7_PORT, &mainBLINK_LED7_TRIS, mainBLINK_LED7_PIN, mainBLINK_LED7_INTERVAL};

/*
 * The task code for the "vBlink" task.
 */
static portTASK_FUNCTION_PROTO(vBlink, pvParameters);

/*-----------------------------------------------------------*/

/*
 * Creates the tasks, then starts the scheduler.
 */
void main( void )
{
	/*
	 * Start the blink tasks defined in this file.
	 */
	xTaskCreate( vBlink,  "B0", configMINIMAL_STACK_SIZE, &sled0, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vBlink,  "B1", configMINIMAL_STACK_SIZE, &sled1, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vBlink,  "B2", configMINIMAL_STACK_SIZE, &sled2, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vBlink,  "B3", configMINIMAL_STACK_SIZE, &sled3, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vBlink,  "B4", configMINIMAL_STACK_SIZE, &sled4, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vBlink,  "B5", configMINIMAL_STACK_SIZE, &sled5, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vBlink,  "B6", configMINIMAL_STACK_SIZE, &sled6, tskIDLE_PRIORITY, NULL );
	xTaskCreate( vBlink,  "B7", configMINIMAL_STACK_SIZE, &sled7, tskIDLE_PRIORITY, NULL );

	/*
	 * Start the scheduler.
	 */
	vTaskStartScheduler( );
	
	while(1)	/* This point should never be reached. */
	{
	}
}
/*-----------------------------------------------------------*/

static portTASK_FUNCTION(vBlink, pvParameters)
{
	unsigned char	*Port		= ((SBLINK *)pvParameters)->port;
	unsigned char	*Tris		= ((SBLINK *)pvParameters)->tris;
	unsigned char	Pin			= ((SBLINK *)pvParameters)->pin;
	portTickType	Interval	= ((SBLINK *)pvParameters)->interval;
	
	portTickType	xLastWakeTime;

	/*
	 * Initialize the hardware
	 */
	*Tris &= ~(1<<Pin);	// Set the pin that is used by this task to ouput
	*Port &= ~(1<<Pin);	// Drive the pin low
	
	/*
	 * Initialise the xLastWakeTime variable with the current time.
	 */
	xLastWakeTime = xTaskGetTickCount();

	/*
	 * Cycle for ever, delaying then toggle the LED.
	 */
	for( ;; )
	{
		/*
		 * Wait until it is time to toggle
		 */
		vTaskDelayUntil( &xLastWakeTime, Interval );

		/*
		 * Toggle the LED for visual feedback.
		 */
		*Port ^= 1<<Pin;
	}
}