/*
    FreeRTOS V7.4.0 - Copyright (C) 2013 Real Time Engineers Ltd.

    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS tutorial books are available in pdf and paperback.        *
     *    Complete, revised, and edited pdf reference manuals are also       *
     *    available.                                                         *
     *                                                                       *
     *    Purchasing FreeRTOS documentation will not only help you, by       *
     *    ensuring you get running as quickly as possible and with an        *
     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
     *    the FreeRTOS project to continue with its mission of providing     *
     *    professional grade, cross platform, de facto standard solutions    *
     *    for microcontrollers - completely free of charge!                  *
     *                                                                       *
     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
     *                                                                       *
     *    Thank you for using FreeRTOS, and thank you for your support!      *
     *                                                                       *
    ***************************************************************************


    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.  See the GNU General Public License for more
    details. You should have received a copy of the GNU General Public License
    and the FreeRTOS license exception along with FreeRTOS; if not itcan be
    viewed here: http://www.freertos.org/a00114.html and also obtained by
    writing to Real Time Engineers Ltd., contact details for whom are available
    on the FreeRTOS WEB site.

    1 tab == 4 spaces!

    ***************************************************************************
     *                                                                       *
     *    Having a problem?  Start by reading the FAQ "My application does   *
     *    not run, what could be wrong?"                                     *
     *                                                                       *
     *    http://www.FreeRTOS.org/FAQHelp.html                               *
     *                                                                       *
    ***************************************************************************


    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, and our new
    fully thread aware and reentrant UDP/IP stack.

    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
    Integrity Systems, who sell the code with commercial support, 
    indemnification and middleware, under the OpenRTOS brand.
    
    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.
*/

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* Demo includes. */
#include "lcd.h"

/*
 * The LCD is written to by more than one task so is controlled by this
 * 'gatekeeper' task.  This is the only task that is actually permitted to
 * access the LCD directly.  Other tasks wanting to display a message send
 * the message to the gatekeeper.
 */
static void vLCDTask( void *pvParameters );

/*
 * Setup the peripherals required to communicate with the LCD.
 */
static void prvSetupLCD( void );

/* 
 * Move to the first (0) or second (1) row of the LCD. 
 */
static void prvLCDGotoRow( unsigned portSHORT usRow );

/* 
 * Write a string of text to the LCD. 
 */
static void prvLCDPutString( portCHAR *pcString );

/* 
 * Clear the LCD. 
 */
static void prvLCDClear( void );

/*-----------------------------------------------------------*/

/* Brief delay to permit the LCD to catch up with commands. */
#define lcdVERY_SHORT_DELAY	( 1 )
#define lcdSHORT_DELAY		( 4 / portTICK_RATE_MS )
#define lcdLONG_DELAY		( 15 / portTICK_RATE_MS )

/* LCD commands. */
#define lcdCLEAR			( 0x01 )
#define lcdHOME				( 0x02 )
#define lcdLINE2			( 0xc0 )

/* SFR that seems to be missing from the standard header files. */
#define PMAEN				*( ( unsigned short * ) 0x60c )

/* LCD R/W signal. */
#define  lcdRW  LATDbits.LATD5       

/* LCD lcdRS signal. */
#define  lcdRS  LATBbits.LATB15      

/* LCD lcdE signal . */
#define  lcdE   LATDbits.LATD4       

/* Control signal pin direction. */
#define  RW_TRIS	TRISDbits.TRISD5 
#define  RS_TRIS	TRISBbits.TRISB15
#define  E_TRIS		TRISDbits.TRISD4

/* Port for LCD data */
#define  lcdDATA      LATE           
#define  lcdDATAPORT  PORTE

/* I/O setup for data Port. */
#define  TRISDATA  TRISE          

/* The length of the queue used to send messages to the LCD gatekeeper task. */
#define lcdQUEUE_SIZE		3
/*-----------------------------------------------------------*/

/* The queue used to send messages to the LCD task. */
xQueueHandle xLCDQueue;

static void prvLCDCommand( portCHAR cCommand );
static void prvLCDData( portCHAR cChar );

/*-----------------------------------------------------------*/

xQueueHandle xStartLCDTask( void )
{
	/* Create the queue used by the LCD task.  Messages for display on the LCD
	are received via this queue. */
	xLCDQueue = xQueueCreate( lcdQUEUE_SIZE, sizeof( xLCDMessage ) );

	/* Start the task that will write to the LCD.  The LCD hardware is
	initialised from within the task itself so delays can be used. */
	xTaskCreate( vLCDTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );

	return xLCDQueue;
}
/*-----------------------------------------------------------*/

static void prvLCDGotoRow( unsigned portSHORT usRow )
{
	if( usRow == 0 )
	{
		prvLCDCommand( lcdHOME );
	}
	else
	{
		prvLCDCommand( lcdLINE2 );
	}
}
/*-----------------------------------------------------------*/

static void prvLCDCommand( portCHAR cCommand ) 
{
	/* Prepare RD0 - RD7. */
	lcdDATA &= 0xFF00;               

	/* Command byte to lcd. */
    lcdDATA |= cCommand;                  

	/* Ensure lcdRW is 0. */
	lcdRW = 0;                       
    lcdRS = 0;

	/* Toggle lcdE line. */
    lcdE = 1;                        
    vTaskDelay( lcdVERY_SHORT_DELAY );
    lcdE = 0;

   	vTaskDelay( lcdSHORT_DELAY );
}
/*-----------------------------------------------------------*/

static void prvLCDData( portCHAR cChar )
{
	/* ensure lcdRW is 0. */
	lcdRW = 0;       				 

	/* Assert register select to 1. */
    lcdRS = 1;                       

	/* Prepare RD0 - RD7. */
	lcdDATA &= 0xFF00;               

	/* Data byte to lcd. */
    lcdDATA |= cChar;                 
    lcdE = 1;				
 	Nop();
    Nop();
    Nop();

	/* Toggle lcdE signal. */
    lcdE = 0;                       

	/* Negate register select to 0. */
    lcdRS = 0;                      

	vTaskDelay( lcdVERY_SHORT_DELAY );
}
/*-----------------------------------------------------------*/

static void prvLCDPutString( portCHAR *pcString )
{
	/* Write out each character with appropriate delay between each. */
	while( *pcString )
	{
		prvLCDData( *pcString );
		pcString++;
		vTaskDelay( lcdSHORT_DELAY );
	}
}
/*-----------------------------------------------------------*/

static void prvLCDClear( void )
{
	prvLCDCommand( lcdCLEAR );
}
/*-----------------------------------------------------------*/

static void prvSetupLCD( void )
{
	/* Wait for proper power up. */
	vTaskDelay( lcdLONG_DELAY );
			
	/* Set initial states for the data and control pins */
	LATE &= 0xFF00;	

	/* R/W state set low. */
    lcdRW = 0;                       

	/* lcdRS state set low. */
	lcdRS = 0;                       

	/* lcdE state set low. */
	lcdE = 0;                        

	/* Set data and control pins to outputs */
	TRISE &= 0xFF00;

	/* lcdRW pin set as output. */
 	RW_TRIS = 0;                  

	/* lcdRS pin set as output. */
	RS_TRIS = 0;                  

	/* lcdE pin set as output. */
	E_TRIS = 0;                   

	/* 1st LCD initialization sequence */
	lcdDATA &= 0xFF00;
    lcdDATA |= 0x0038;
    lcdE = 1;	
    Nop();
    Nop();
    Nop();

	/* Toggle lcdE signal. */
    lcdE = 0;                        

	vTaskDelay( lcdSHORT_DELAY );
	vTaskDelay( lcdSHORT_DELAY );
	vTaskDelay( lcdSHORT_DELAY );
      
	/* 2nd LCD initialization sequence */
	lcdDATA &= 0xFF00;
    lcdDATA |= 0x0038;
    lcdE = 1;	
    Nop();
    Nop();
    Nop();	

	/* Toggle lcdE signal. */
    lcdE = 0;                        

    vTaskDelay( lcdSHORT_DELAY );

	/* 3rd LCD initialization sequence */
	lcdDATA &= 0xFF00;
    lcdDATA |= 0x0038;
    lcdE = 1;		
    Nop();
    Nop();
    Nop();	

	/* Toggle lcdE signal. */
    lcdE = 0;                        

	vTaskDelay( lcdSHORT_DELAY );


	/* Function set. */
    prvLCDCommand( 0x38 );              

	/* Display on/off control, cursor blink off (0x0C). */
    prvLCDCommand( 0x0C );              

	/* Entry mode set (0x06). */
    prvLCDCommand( 0x06 );		

	prvLCDCommand( lcdCLEAR );	  
}
/*-----------------------------------------------------------*/

static void vLCDTask( void *pvParameters )
{
xLCDMessage xMessage;
unsigned portSHORT usRow = 0;

	/* Initialise the hardware.  This uses delays so must not be called prior
	to the scheduler being started. */
	prvSetupLCD();

	/* Welcome message. */
	prvLCDPutString( "www.FreeRTOS.org" );

	for( ;; )
	{
		/* Wait for a message to arrive that requires displaying. */
		while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );

		/* Clear the current display value. */
		prvLCDClear();

		/* Switch rows each time so we can see that the display is still being
		updated. */
		prvLCDGotoRow( usRow & 0x01 );
		usRow++;
		prvLCDPutString( xMessage.pcMessage );

		/* Delay the requested amount of time to ensure the text just written 
		to the LCD is not overwritten. */
		vTaskDelay( xMessage.xMinDisplayTime );		
	}
}