// test TRT timers with four led blinking tasks

#include <inttypes.h>
#include "trtSettings.h"
#include "trtkernel644.c"
#include "trtTimers.c"
#include <util/delay.h>
#include <stdio.h>
#include <avr/sleep.h>

// serial communication library
// Don't mess with the semaphores
#define SEM_RX_ISR_SIGNAL 1
#define SEM_STRING_DONE 2 // user hit <enter>
#include "trtUart.h"
#include "trtUart.c"
// UART file descriptor
// putchar and getchar are in uart.c
FILE uart_str = FDEV_SETUP_STREAM(uart_putchar, uart_getchar, _FDEV_SETUP_RW);

// Timer controls
#define SEM_TIMER_1 3
#define SEM_TIMER_2 4
#define SEM_TIMER_3 5
#define TIMER_1 1
#define TIMER_2 2
#define TIMER_3 3

// the usual
#define begin {
#define end }

// --- Blink LEDs and run uart ---------------------------------
// input arguments to each thread
// not actually used in this example
int args[4] ;

// --- define task 1  ----------------------------------------
  void led1(void* args) 
  begin
 	uint32_t rel, dead ;
	
	// set up a timer to control task2
	trtSetTimer(TIMER_1, SECONDS2TIMERTICK(2.0), PERIODIC, SEM_TIMER_1);
	trtStartTimer(TIMER_1) ;
	while(1)
	begin
		// blink the led
		PORTC = PORTC ^ 0x02 ;
		// Sleep
	    rel = trtCurrentTime() + SECONDS2TICKS(1);
	    dead = trtCurrentTime() + SECONDS2TICKS(1);
	    trtSleepUntil(rel, dead);
	end
  end

// --- define task 2  ----------------------------------------
void led2(void* args) 
  begin	
  	//set up a timer to control task3
	trtSetTimer(TIMER_2, SECONDS2TIMERTICK(0.50), PERIODIC, SEM_TIMER_2);
	while(1)
	begin
		// when timer1 times out, toggle run/stop on timer2
		trtWait(SEM_TIMER_1);
		if (trtStatusTimer(TIMER_2) & (1<<RUNBIT))
			trtStopTimer(TIMER_2);
		else
			trtStartTimer(TIMER_2);
		
		// blink the led
		PORTC = PORTC ^ 0x04 ;	
	end
  end

// --- define task 3  ----------------------------------------
void led3(void* args) 
  begin	
  	// set up a timer to control task4 in oneshot (delay) mode
	trtSetTimer(TIMER_3, SECONDS2TIMERTICK(0.2), ONESHOT, SEM_TIMER_3);
	while(1)
	begin
		// when timer2 times out, trigger oneshot timer3
		trtWait(SEM_TIMER_2);
		trtStartTimer(TIMER_3) ;
		// blink the led
		PORTC = PORTC ^ 0x08 ;
	
	end
  end

// --- define task 4  ----------------------------------------
void led4(void* args) 
  begin

	while(1)
	begin
		trtWait(SEM_TIMER_3);
		// blink the led
		PORTC = PORTC ^ 0x10 ;
	
	end
  end

// --- Main Program ----------------------------------
int main(void) {

  DDRC = 0xff;    // led connections
  PORTC = 0xff;

  //init the UART -- trt_uart_init() is in trtUart.c
  trt_uart_init();
  stdout = stdin = stderr = &uart_str;
  fprintf(stdout,"\n\r TRT 09feb09\n\r\n\r");

  // start TRT
  trtInitKernel(80); // 80 bytes for the idle task stack

  // start soft timers
  trtInitTimer();

  // --- create semaphores ----------
  // You must creat the first two semaphores if you use the uart
  trtCreateSemaphore(SEM_RX_ISR_SIGNAL, 0) ; // uart receive ISR semaphore
  trtCreateSemaphore(SEM_STRING_DONE,0) ;  // user typed <enter>
  
  // Timer synch
  // each of these semaphores will be signaled by a timer
  trtCreateSemaphore(SEM_TIMER_1, 0) ; // signal to task2 to execute
  trtCreateSemaphore(SEM_TIMER_2, 0) ; // signal to task3 to execute
  trtCreateSemaphore(SEM_TIMER_3, 0) ; // signal to task4 to execute

 // --- creat tasks  ----------------
  trtCreateTask(led1, 100, SECONDS2TICKS(1), SECONDS2TICKS(1), &(args[0]));
  trtCreateTask(led2, 100, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[1]));
  trtCreateTask(led3, 100, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[2]));
  trtCreateTask(led4, 100, SECONDS2TICKS(0.1), SECONDS2TICKS(0.1), &(args[2]));

  // --- Idle task --------------------------------------
  // just sleeps the cpu to save power 
  // every time it executes
  set_sleep_mode(SLEEP_MODE_IDLE);
  sleep_enable();
  while (1) 
  begin
  	sleep_cpu();
  end

} // main