/*
	FreeRTOS.org V5.1.1 - 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
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	(at your option) any later version.

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	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.

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	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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	Please ensure to read the configuration and relevant port sections of the
	online documentation.

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*/

/**
 * This version of flash .c is for use on systems that have limited stack space
 * and no display facilities.  The complete version can be found in the 
 * Demo/Common/Full directory.
 * 
 * Three tasks are created, each of which flash an LED at a different rate.  The first 
 * LED flashes every 200ms, the second every 400ms, the third every 600ms.
 *
 * The LED flash tasks provide instant visual feedback.  They show that the scheduler 
 * is still operational.
 *
 */


#include <stdlib.h>

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "croutine.h"

/* Demo program include files. */
#include "partest.h"
#include "flash.h"

#define ledSTACK_SIZE		configMINIMAL_STACK_SIZE
#define ledNUMBER_OF_LEDS	( 7 )
#define ledFLASH_RATE_BASE	( ( portTickType ) 333 )

#define ledMAX_FLASH_CO_ROUTINES	7
#define ledCO_ROUTINE_PRIORITY		0

/* The task that is created three times. */
static void vLEDFlashTask( void *pvParameters );
static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex );

/* This task is created once, but itself creates 7 co-routines. */
static void vLEDCoRoutineControlTask( void *pvParameters );

static xTaskHandle xFlashTaskHandles[ ledNUMBER_OF_LEDS ] = { 0 };
static xTaskHandle xCoroutineTask;

/*-----------------------------------------------------------*/

void vCreateFlashTasksAndCoRoutines( void )
{
signed short sLEDTask;

	/* Create the three tasks that flash segments on the first LED. */
	for( sLEDTask = 0; sLEDTask < ledNUMBER_OF_LEDS; ++sLEDTask )
	{
		/* Spawn the task. */
		xTaskCreate( vLEDFlashTask, ( signed char * ) "LEDt", ledSTACK_SIZE, ( void * ) sLEDTask, ( tskIDLE_PRIORITY + 1 ), &( xFlashTaskHandles[ sLEDTask ] ) );
	}

	/* Create the task in which the co-routines run. */
	xTaskCreate( vLEDCoRoutineControlTask, ( signed char * ) "LEDc", ledSTACK_SIZE, NULL, tskIDLE_PRIORITY, &xCoroutineTask );
}
/*-----------------------------------------------------------*/

void vSuspendFlashTasks( unsigned char ucIndex, short sSuspendTasks )
{
short sLEDTask;

	if( ucIndex == 0 )
	{
		for( sLEDTask = 0; sLEDTask < ledNUMBER_OF_LEDS; ++sLEDTask )
		{
			if( xFlashTaskHandles[ sLEDTask ] != NULL )
			{
				if( sSuspendTasks == pdTRUE )
				{
					vTaskSuspend( xFlashTaskHandles[ sLEDTask ] );
				}
				else
				{
					vTaskResume( xFlashTaskHandles[ sLEDTask ] );
				}
			}
		}
	}
	else
	{
		if( sSuspendTasks == pdTRUE )
		{
			vTaskSuspend( xCoroutineTask );
		}
		else
		{
			vTaskResume( xCoroutineTask );
		}
	}
}
/*-----------------------------------------------------------*/

static void vLEDFlashTask( void * pvParameters )
{
portTickType xFlashRate, xLastFlashTime;
unsigned short usLED;

	/* The LED to flash is passed in as the task parameter. */
	usLED = ( unsigned short ) pvParameters;

	/* Calculate the rate at which this task is going to toggle its LED. */
	xFlashRate = ledFLASH_RATE_BASE + ( ledFLASH_RATE_BASE * ( portTickType ) usLED );
	xFlashRate /= portTICK_RATE_MS;

	/* We will turn the LED on and off again in the delay period, so each
	delay is only half the total period. */
	xFlashRate /= ( portTickType ) 2;

	/* We need to initialise xLastFlashTime prior to the first call to 
	vTaskDelayUntil(). */
	xLastFlashTime = xTaskGetTickCount();

	for(;;)
	{
		/* Delay for half the flash period then turn the LED on. */
		vTaskDelayUntil( &xLastFlashTime, xFlashRate );
		vParTestToggleLED( usLED );

		/* Delay for half the flash period then turn the LED off. */
		vTaskDelayUntil( &xLastFlashTime, xFlashRate );
		vParTestToggleLED( usLED );
	}
}
/*-----------------------------------------------------------*/

static void vLEDCoRoutineControlTask( void *pvParameters )
{
unsigned short usCoroutine;

	( void ) pvParameters;

	for( usCoroutine = 0; usCoroutine < ledMAX_FLASH_CO_ROUTINES; usCoroutine++ )
	{
		xCoRoutineCreate( prvFixedDelayCoRoutine, ledCO_ROUTINE_PRIORITY, usCoroutine );
	}

	for( ;; )
	{
		vCoRoutineSchedule();
	}
}
/*-----------------------------------------------------------*/

static void prvFixedDelayCoRoutine( xCoRoutineHandle xHandle, unsigned short usIndex )
{
/* The usIndex parameter of the co-routine function is used as an index into
the xFlashRates array to obtain the delay period to use. */
static const portTickType xFlashRates[ ledMAX_FLASH_CO_ROUTINES ] = { 150 / portTICK_RATE_MS,
																300 / portTICK_RATE_MS,
																450 / portTICK_RATE_MS,
																600 / portTICK_RATE_MS,
																750 / portTICK_RATE_MS,
																900 / portTICK_RATE_MS,
																1050 / portTICK_RATE_MS };

	/* Co-routines MUST start with a call to crSTART. */
	crSTART( xHandle );

	for( ;; )
	{
		vParTestToggleLED( usIndex + 8 );
		crDELAY( xHandle, xFlashRates[ usIndex ] );
	}

	/* Co-routines MUST end with a call to crEND. */
	crEND();
}
/*-----------------------------------------------------------*/