#include <avr/io.h>

#include "ucos_ii.h"

OS_STK Task1Stk[OS_USER_TASK_STK_SIZE]={0};
OS_STK Task2Stk[OS_USER_TASK_STK_SIZE]={0};
OS_STK Task3Stk[OS_USER_TASK_STK_SIZE]={0};
OS_STK Task4Stk[OS_USER_TASK_STK_SIZE]={0};
OS_STK Task5Stk[OS_USER_TASK_STK_SIZE]={0};

volatile unsigned char t1=0;
volatile unsigned char t2=0;
volatile unsigned char t3=0;
volatile unsigned char t4=0;
volatile unsigned char t5=0;
volatile unsigned char t6=0;

OS_EVENT *T2sem=(OS_EVENT *)0;
OS_EVENT *Tmbox=(OS_EVENT *)0;

struct msgTask
{
 unsigned char cnt;
 unsigned char *s;
};

struct msgTask T5mbox={1,"Hello"};
struct msgTask *pMsgTsk=&T5mbox;
 
void Task1(void *pdata)
{
 pdata=pdata;

 TIMSK&=0xFC;
 
#if OS_TICKS_PER_SEC <= (F_CPU/1024/256)
 #error "OS_TICKS_PER_SEC <  (F_CPU/1024/256) "
#endif

 OCR0=F_CPU/1024/OS_TICKS_PER_SEC;
 TCNT0=0;


 TCCR0=(1<<WGM01)|0x05;

 TIMSK|=2;
 
 DDRB|=0x02;

 while(1)
    {

	 OSTimeDly(2);
	 t1++;
	 PORTB^=0x02;
	}
}

void Task2(void *pdata)
{
 unsigned char err=0;
 pdata=pdata;

 MCUCR=0x02;
 GICR=0x40;

 TCCR2=0x08;      // CTC 模式, TOP=OCR2
 OCR2=72;         // 7372800/1024/72=100
 TCCR2|=0x07;     // 1024分頻
 TIMSK|=0x80;     // 比較中斷使能
 
 while(1)
    {        
              OSSemPend(T2sem,0,&err);
              if(err==OS_NO_ERR) 
                        t2++;
              if(err==OS_TIMEOUT)
                        {};
              GIFR|=0x40;
	// OSTimeDly(10);	 
	}
}

void Task3(void *pdata)
{


 pdata=pdata;
 
 while(1)
    {
	 t3++;
	 OSTimeDly(4);
               DDRD|=0x04;
               PORTD|=0x04;
               PORTD&=~0x04;	 
	}
}

void Task4(void *pdata)
{
 pdata=pdata;
 
 MCUCR|=0x08;
 GICR|=0x80;

 while(1)
    {
	 t4++;
	 OSTimeDly(8);
               DDRD|=0x08;
               PORTD|=0x08;
               PORTD&=~0x08;	 
	}
}

void Task5(void *pdata)
{
 unsigned char err=0; 
 struct msgTask *p=( struct msgTask *)0;
 
pdata=pdata;
 
 while(1)
    {
               p=( struct msgTask *)OSMboxPend(Tmbox,0,&err);
               
	 t5=p->cnt;	 
	}
}

int main(void)
{
 OSInit();
 
 OSTaskCreate(Task1,0,&Task1Stk[OS_USER_TASK_STK_SIZE-1],1);
 OSTaskCreate(Task2,0,&Task2Stk[OS_USER_TASK_STK_SIZE-1],2);
 OSTaskCreate(Task3,0,&Task3Stk[OS_USER_TASK_STK_SIZE-1],3); 
 OSTaskCreate(Task4,0,&Task4Stk[OS_USER_TASK_STK_SIZE-1],5); 
 OSTaskCreate(Task5,0,&Task5Stk[OS_USER_TASK_STK_SIZE-1],4); 

 T2sem=OSSemCreate(0);
 Tmbox=OSMboxCreate((void *)0); 

 OSStart();
}