/*
*********************************************************************************************************
*                                               uC/OS-II
*                                         The Real-Time Kernel
*
*                             (c) Copyright 1998-2004, Micrium, Weston, FL
*                                          All Rights Reserved
*
*
*                                            ARM Sample code
*
* File : APP.C
* By   : Jean J. Labrosse
*********************************************************************************************************
*/

#include <includes.h>

/*
*********************************************************************************************************
*                                                CONSTANTS
*********************************************************************************************************
*/

#define  TASK_STK_SIZE    128

#define  TASK_START_PRIO    5

/*
*********************************************************************************************************
*                                                VARIABLES
*********************************************************************************************************
*/

OS_STK        AppStartTaskStk[TASK_STK_SIZE];

/*
*********************************************************************************************************
*                                            FUNCTION PROTOTYPES
*********************************************************************************************************
*/

static  void  AppStartTask(void *p_arg);

/*
*********************************************************************************************************
*                                                main()
*
* Description : This is the standard entry point for C code.  It is assumed that your code will call
*               main() once you have performed all necessary 68HC12 and C initialization.
* Arguments   : none
*********************************************************************************************************
*/

void  main (void)
{
    INT8U  err;


    AT91C_BASE_AIC->AIC_IDCR = 0xFFFFFFFF;  /* Disable all interrupts                                  */

    OSInit();                               /* Initialize "uC/OS-II, The Real-Time Kernel"             */

    OSTaskCreateExt(AppStartTask,
                    (void *)0,
                    (OS_STK *)&AppStartTaskStk[TASK_STK_SIZE-1],
                    TASK_START_PRIO,
                    TASK_START_PRIO,
                    (OS_STK *)&AppStartTaskStk[0],
                    TASK_STK_SIZE,
                    (void *)0,
                    OS_TASK_OPT_STK_CHK | OS_TASK_OPT_STK_CLR);

#if OS_TASK_NAME_SIZE > 11
    OSTaskNameSet(TASK_START_PRIO, "Start Task", &err);
#endif

#if OS_TASK_NAME_SIZE > 14
    OSTaskNameSet(OS_IDLE_PRIO, "uC/OS-II Idle", &err);
#endif

#if (OS_TASK_NAME_SIZE > 14) && (OS_TASK_STAT_EN > 0)
    OSTaskNameSet(OS_STAT_PRIO, "uC/OS-II Stat", &err);
#endif

    OSStart();                              /* Start multitasking (i.e. give control to uC/OS-II)      */
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                          STARTUP TASK
*
* Description : This is an example of a startup task.  As mentioned in the book's text, you MUST
*               initialize the ticker only once multitasking has started.
* Arguments   : p_arg   is the argument passed to 'AppStartTask()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'p_arg' is not
*                  used.  The compiler should not generate any code for this statement.
*               2) Interrupts are enabled once the task start because the I-bit of the CCR register was
*                  set to 0 by 'OSTaskCreate()'.
*********************************************************************************************************
*/

static  void  AppStartTask (void *p_arg)
{
    INT8U  i;


    (void)p_arg;

    CPU_Init();                             /* Initialize processor specific blocks                    */
    BSP_Init();                             /* Initialize BSP functions                                */

#if OS_TASK_STAT_EN > 0
    OSStatInit();                           /* Determine CPU capacity                                  */
#endif

    LED_Off(BSP_LED_ALL);                   /* Turn OFF all the LEDs                                   */

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
      for (i = 1; i <= 4; i++) {
            LED_On(i);
            OSTimeDlyHMSM(0, 0, 0, 50);
            LED_Off(i);
        }
        for (i = 1; i <= 4; i++) {
            LED_On(5 - i);
            OSTimeDlyHMSM(0, 0, 0, 50);
            LED_Off(5 - i);
        }
    }
}