/*
*********************************************************************************************************
*                                                uC/OS-II
*                                          The Real-Time Kernel
*
*                           (c) Copyright 1992-2002, Jean J. Labrosse, Weston, FL
*                                           All Rights Reserved
*
*                                               EXAMPLE #1
*********************************************************************************************************
*/

#include "includes.h"
#include "AT91FR.h"
#define USER_MODE  0x10
#define FIP_MODE   0x11
#define IRQ_MODE   0x12
#define SVC_MODE   0x13
#define SYS_MODE   0x1F

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

#define  TASK_STK_SIZE                 512       /* Size of each task's stacks (# of WORDs)            */
#define  N_TASKS                        2      /* Number of identical tasks                          */

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

OS_STK        TaskStk[N_TASKS][TASK_STK_SIZE];        /* Tasks stacks                                  */
OS_STK        TaskStartStk[TASK_STK_SIZE];
U8          TaskData[N_TASKS];                      /* Parameters to pass to each task               */
OS_EVENT     *RandomSem;//,*RandomSem1;

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

        void  Task(void *data);                       /* Function prototypes of tasks                  */
        void  TaskStart(void *data);                  /* Function prototypes of Startup task           */
static  void  TaskStartCreateTasks(void);




/*********************************************************************************************************
*                                                MAIN
*********************************************************************************************************
*/
void delay(void)
{
	U32 i ;
	for(i=2000000;i>0;i--);

}
void LED1_control(U8 stat)
{
	if(stat==0)
		PIO_CODR = (1<<16);
	else
		PIO_SODR = (1<<16);
}

void LED2_control(U8 stat)
{
	if(stat==0)
		PIO_CODR = (1<<17);
	else
		PIO_SODR = (1<<17);
}
void TargetIint(void)		//目標系統初始化
{
	U32 i;
	AIC_IDCR = 0xFFFFFFFF;	// disable all interrupts
	PS_PCER  = 0x17c;			// Enable Parallel IO Clock//0x17c enable all parallel
	PIO_PER  = 0xF1FFF;		// use P0-P12,P16-P19
	PIO_ODR  = 0xC1CFF;		// use P0-P7,P10-P12,P18-P19 for input
	PIO_OER  = 0x30300;		// use P8-P9,P16-P17 for output	
	SF_PMR   = 0x27A80020; // AIC Protect mode enable                    
    AIC_EOICR  =  0xFFFFFFFF;  // End-of-interrupt command                    
 	AIC_ICCR=0xFFFF;			//清除中斷
	for(i=5;i>0;i--){
		LED1_control(1);
		LED2_control(1);
		delay();
		LED1_control(0);
		LED2_control(0);
		delay();
	}
}

extern void Time0_irq(void);
void Time0_init(void) 		//時鐘初始化
{
	volatile  U32 tend;	
	TC0_CCR=0x02;		//clk disable/
	TC0_IDR=0xffffffff;	//禁止所有TC0的中斷		
	AIC_SVR4=(U32)Time0_irq;//中斷服務程序
	AIC_SMR4=0x24;			//中斷優先級4	
	tend=TC0_SR;		//讀出狀態以取消中斷	
	TC0_CMR=0xC002;		//MCK/32=4us,CPCSTR,WAVE,
	TC0_RC =25000 ;	   //要匹配的值,每100MS中斷一次
	AIC_IECR=0x10;		//允許TC0中斷
	TC0_IER=0x10;		//允許匹配時中斷/
	TC0_CCR=0x01;		//clk enable//
	TC0_CCR=0x05;		//software triger couter start
}
void Time0_IRQhandler(void)
{
	U32 stat;	
	AIC_IVR = 0;	//debug
	stat=TC0_SR;
	AIC_ICCR  = 0x00000010;             // Clear  timer #0 interrupt	
	AIC_EOICR=stat;//中斷退出/
	OSTimeTick();	 	
	
}
int  main (void)
{
    //LED1_control(1);
 	TargetIint();
 	/*Time0_init() ;		//時鐘初始化
 	while(1){
		LED1_control(1);
		
		delay();
		LED1_control(0);
		
		delay(); 	
 	}*/
    OSInit();                                              /* Initialize uC/OS-II   */
                      
    RandomSem   = OSSemCreate(1);                          /* Random number semaphore                  */
	//RandomSem1   = OSSemCreate(1);                          /* Random number semaphore */  
    OSTaskCreate(TaskStart, (void *)0, &TaskStartStk[TASK_STK_SIZE - 1], 0);///
    OSStart();                                             /* Start multitasking                       */
}


/*
*********************************************************************************************************
*                                              STARTUP TASK
*********************************************************************************************************
*/
void  TaskStart (void *pdata)
{
//#if OS_CRITICAL_METHOD == 3                                /* Allocate storage for CPU status register */
//    OS_CPU_SR  cpu_sr;
//#endif
    //char       s[100];
    //INT16S     key;

	//INT8U  err;
    pdata = pdata;                                         /* Prevent compiler warning                 */
	
	Time0_init() ;		//時鐘初始化
   // OS_ENTER_CRITICAL();
   // PC_VectSet(0x08, OSTickISR);                           /* Install uC/OS-II's clock tick ISR        */
   // PC_SetTickRate(OS_TICKS_PER_SEC);                      /* Reprogram tick rate                      */
   // OS_EXIT_CRITICAL();
	
 //   OSStatInit();                                          /* Initialize uC/OS-II's statistics         */

    TaskStartCreateTasks();                                /* Create all the application tasks         */

    for (;;) {
                                 /* Update the display */
         //OSSemPost(RandomSem);                   /* Release semaphore   */                    
         //OSSemPend(RandomSem, 0, &err);           /* Acquire semaphore to perform random numbers        */        
         OSTimeDly(15);
         LED1_control(1);
         OSTimeDly(15);
         LED1_control(0);         
        
   }
}


/*********************************************************************************************************
*                                             CREATE TASKS
*********************************************************************************************************
*/

static  void  TaskStartCreateTasks (void)
{
    INT8U  i;

    for (i = 0; i < N_TASKS; i++) {                        /* Create N_TASKS identical tasks           */
        TaskData[i] = '0' + i;                             /* Each task will display its own letter    */
        OSTaskCreate(Task, (void *)&TaskData[i], &TaskStk[i][TASK_STK_SIZE - 1], i + 1);
    }
}

/*
*********************************************************************************************************
*                                                  TASKS
*********************************************************************************************************
*/

void   Task (void *pdata)
{
 //   INT8U  x;
  //  INT8U  y;
  INT8U  err;


    for (;;) {
         OSSemPend(RandomSem, 0, &err);           /* Acquire semaphore to perform random numbers        */        
         if(*(U8*)pdata=='0')
         	LED2_control(1);
         else 
         	LED2_control(0);         
         OSSemPost(RandomSem);                   /* Release semaphore                   */
                                                       
         OSTimeDly(4);                            /* Delay 1 clock tick                                  */
    }
}