/*
 * File:        main.c
 *
 * uC/OS Real-time multitasking kernel for the ARM processor.
 *
 * This program is an example of using semaphore to
 * implement task rendevous.
 *
 * Created by Marco Graziano (marcog@crl.com).
 *
 */

#include	"includes.h"               /* uC/OS interface */

/* allocate memory for tasks' stacks */
#ifdef SEMIHOSTED
#define STACKSIZE       (SEMIHOSTED_STACK_NEEDS+64)
#else
#define	STACKSIZE	64
#endif
unsigned int Stack1[STACKSIZE];
unsigned int Stack2[STACKSIZE];
unsigned int Stack3[STACKSIZE];

/* semaphores event control blocks */
//OS_EVENT *Sem1;
//OS_EVENT *Sem2;
//OS_EVENT *Sem3;
/*
 * Task running at the highest priority. 
 */

void
 Task1(void *i)
{

    INT8U Reply, n;

    for (;;)
    {
        /* wait for the semaphore  */
        //OSSemPend(Sem1, 0, &Reply);

        uHALr_printf("\nTask1 running");
        //Uart_Printf("1+");

        /* wait a short while */
		for(n=0;n<1;n++)
		{
			LED0(1);
			OSTimeDly(500);
			LED0(0);
			OSTimeDly(500);
		}
		uHALr_printf("\nTask1 exit");
		//Uart_Printf("1-");

        /* signal the semaphore */
        //OSSemPost(Sem1);
    }
}

void
 Task2(void *i)
{
    INT8U Reply, n;

    for (;;)
    {
     

        uHALr_printf("\nTask2 running");

        /* wait a short while */
		for(n=0;n<1;n++)
		{
			LED1(1);
			OSTimeDly(1000);
			LED1(0);
			OSTimeDly(1000);
		}

	uHALr_printf("\nTask2 exit");
    }
}

void
 Task3(void *i)
{
    INT8U Reply, n;

    for (;;)
    {
        uHALr_printf("\nTask3 running");

        /* wait a short while */
		for(n=0;n<1;n++)
		{
			LED2(1);
			OSTimeDly(2000);
			LED2(0);
			OSTimeDly(2000);
		}
        uHALr_printf("\nTask3 exit");
    }
}

/*
 * Main function.
 */
void Main(void)
{
    char Id1 = '1';
    char Id2 = '2';
     char Id3 = '3';
	Port_Init();
	Uart_Init(0,57600);
	
    Delay(1000);
    Uart_Select(0); //Select UART0

	Uart_Printf("Uc-OS ii will run at once!");
	

    /* do target (uHAL based ARM system) initialisation */
    ARMTargetInit();

    /* needed by uC/OS */
    OSInit();

    OSTimeSet(0);
    /* 
     * create the semaphores
     */
    //Sem1 = OSSemCreate(1);
    //Sem2 = OSSemCreate(1);
//Sem3 = OSSemCreate(1);
    /* 
     * create the tasks in uC/OS and assign decreasing
     * priority to them 
     */
    OSTaskCreate(Task1, (void *)&Id1, (void *)&Stack1[STACKSIZE - 1], 1);
    OSTaskCreate(Task2, (void *)&Id2, (void *)&Stack2[STACKSIZE - 1], 2);
    OSTaskCreate(Task3, (void *)&Id3, (void *)&Stack3[STACKSIZE - 1], 3);
    
    /* Start the (uHAL based ARM system) system running */
    ARMTargetStart();

    /* start the game */
    OSStart();

    /* never reached */
}                               /* main */