/*
    FreeRTOS V7.3.0 - Copyright (C) 2012 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 it
    can be viewed here: http://www.freertos.org/a00114.html and also obtained
    by writing to Richard Barry, 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, training, latest versions, license 
    and contact details.  
    
    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
    including FreeRTOS+Trace - an indispensable productivity tool.

    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.OpenRTOS.com.  High Integrity Systems also
    provide a safety engineered and independently SIL3 certified version under 
    the SafeRTOS brand: http://www.SafeRTOS.com.
*/

/* peripheral library include */
#include <plib.h>

/* 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 short usRow );

/* 
 * Write a string of text to the LCD. 
 */
static void prvLCDPutString( char *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 specific definitions. */
#define LCD_CLEAR_DISPLAY_CMD			0x01
#define LCD_CURSOR_HOME_CMD				0x02
#define LCD_ENTRY_MODE_CMD				0x04
#define LCD_ENTRY_MODE_INCREASE			0x02
#define LCD_DISPLAY_CTRL_CMD			0x08
#define LCD_DISPLAY_CTRL_DISPLAY_ON		0x04
#define LCD_FUNCTION_SET_CMD			0x20
#define LCD_FUNCTION_SET_8_BITS			0x10
#define LCD_FUNCTION_SET_2_LINES		0x08
#define LCD_FUNCTION_SET_LRG_FONT		0x04
#define LCD_NEW_LINE					0xC0
#define LCD_COMMAND_ADDRESS				0x00
#define LCD_DATA_ADDRESS				0x01

/* 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;

/* LCD access functions. */
static void prvLCDCommand( char cCommand );
static void prvLCDData( char 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 char * ) "LCD", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );

	return xLCDQueue;
}
/*-----------------------------------------------------------*/

static void prvLCDGotoRow( unsigned short usRow )
{
	if(usRow == 0) 
	{
		prvLCDCommand( LCD_CURSOR_HOME_CMD );
	} 
	else 
	{
		prvLCDCommand( LCD_NEW_LINE );
	}
}
/*-----------------------------------------------------------*/

static void prvLCDCommand( char cCommand ) 
{
	PMPSetAddress( LCD_COMMAND_ADDRESS );
	PMPMasterWrite( cCommand );
   	vTaskDelay( lcdSHORT_DELAY );
}
/*-----------------------------------------------------------*/

static void prvLCDData( char cChar )
{
	PMPSetAddress( LCD_DATA_ADDRESS );
	PMPMasterWrite( cChar );
	vTaskDelay( lcdVERY_SHORT_DELAY );
}
/*-----------------------------------------------------------*/

static void prvLCDPutString( char *pcString )
{
	/* Write out each character with appropriate delay between each. */
	while(*pcString)
	{
		prvLCDData(*pcString);
		pcString++;
		vTaskDelay(lcdSHORT_DELAY);
	}
}
/*-----------------------------------------------------------*/

static void prvLCDClear(void)
{
	prvLCDCommand(LCD_CLEAR_DISPLAY_CMD);
}
/*-----------------------------------------------------------*/

static void prvSetupLCD(void)
{
	/* Wait for proper power up. */
	vTaskDelay( lcdLONG_DELAY );
	
	/* Open the PMP port */
	mPMPOpen((PMP_ON | PMP_READ_WRITE_EN | PMP_CS2_CS1_EN |
			  PMP_LATCH_POL_HI | PMP_CS2_POL_HI | PMP_CS1_POL_HI |
			  PMP_WRITE_POL_HI | PMP_READ_POL_HI),
			 (PMP_MODE_MASTER1 | PMP_WAIT_BEG_4 | PMP_WAIT_MID_15 |
			  PMP_WAIT_END_4),
			  PMP_PEN_0, 0);
			 
	/* Wait for the LCD to power up correctly. */
	vTaskDelay( lcdLONG_DELAY );
	vTaskDelay( lcdLONG_DELAY );
	vTaskDelay( lcdLONG_DELAY );

	/* Set up the LCD function. */
	prvLCDCommand( LCD_FUNCTION_SET_CMD | LCD_FUNCTION_SET_8_BITS | LCD_FUNCTION_SET_2_LINES | LCD_FUNCTION_SET_LRG_FONT );
	
	/* Turn the display on. */
	prvLCDCommand( LCD_DISPLAY_CTRL_CMD | LCD_DISPLAY_CTRL_DISPLAY_ON );
	
	/* Clear the display. */
	prvLCDCommand( LCD_CLEAR_DISPLAY_CMD );
	vTaskDelay( lcdLONG_DELAY );	
	
	/* Increase the cursor. */
	prvLCDCommand( LCD_ENTRY_MODE_CMD | LCD_ENTRY_MODE_INCREASE );
	vTaskDelay( lcdLONG_DELAY );		  	
	vTaskDelay( lcdLONG_DELAY );		  	
	vTaskDelay( lcdLONG_DELAY );
}
/*-----------------------------------------------------------*/

static void vLCDTask(void *pvParameters)
{
xLCDMessage xMessage;
unsigned short 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 );		
	}
}