/*
    FreeRTOS V7.4.1 - 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       *
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     *    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 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?"                                     *
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    ***************************************************************************


    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
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    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High 
    Integrity Systems, who sell the code with commercial support, 
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    http://www.SafeRTOS.com - High Integrity Systems also provide a 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;
	}
}