/*
*********************************************************************************************************
*                                               uC/OS-II
*                                         The Real-Time Kernel
*
*                         (c) Copyright 1998, Jean J. Labrosse, Plantation, FL
*                                          All Rights Reserved
*
*                                          M68HC11 Sample code
*
*                                            COSMIC C V4.1F
*
* File         : TEST.C
* By           : Jean J. Labrosse
* Port Version : V1.00
*********************************************************************************************************
*/

#include "INCLUDES.H"

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

OS_STK  AppStartTaskStk[128];
OS_STK  AppTask1Stk[128];
OS_STK  AppTask2Stk[128];

static  INT16U  Task1Ctr;
static  INT16U  Task2Ctr;  
    
/*
*********************************************************************************************************
*                                            FUNCTION PROTOTYPES
*********************************************************************************************************
*/

static void  AppStartTask(void *pdata);
static void  AppTask1(void *pdata);
static void  AppTask2(void *pdata);
static void  AppTickInit(void);

/*
*********************************************************************************************************
*                                                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 68HC11 and C initialization.
* Arguments   : none
*********************************************************************************************************
*/

void main (void)
{
    /*---- Any initialization code prior to calling OSInit() goes HERE --------------------------------*/

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

    /*---- Any initialization code before starting multitasking ---------------------------------------*/

    OSTaskCreate(AppStartTask, (void *)0, (void *)&AppStartTaskStk[127], 0);

    /*---- Create any other task you want before we start multitasking --------------------------------*/

    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   : pdata   is the argument passed to 'AppStartTask()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'pdata' 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 *pdata)
{
    pdata = pdata;
    AppTickInit();                          /* Initialize the ticker                                   */
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/
    OSTaskCreate(AppTask1, (void *)0, (void *)&AppTask1Stk[127], 1);
    OSTaskCreate(AppTask2, (void *)0, (void *)&AppTask2Stk[127], 2);

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        OSTimeDly(1);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #1
*
* Description : This is an example of a task.  
* Arguments   : pdata   is the argument passed to 'AppTask1()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'pdata' 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  AppTask1 (void *pdata)
{
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/
    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task1Ctr++;
        OSTimeDly(1);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                            TASK #2
*
* Description : This is an example of a task.  
* Arguments   : pdata   is the argument passed to 'AppTask2()' by 'OSTaskCreate()'.
* Notes       : 1) The first line of code is used to prevent a compiler warning because 'pdata' 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  AppTask2 (void *pdata)
{
    pdata = pdata;
    /*---- Task initialization code goes HERE! --------------------------------------------------------*/

    while (TRUE) {                          /* Task body, always written as an infinite loop.          */
        /*---- Task code goes HERE! -------------------------------------------------------------------*/
        Task2Ctr++;
        OSTimeDly(1);                       /* Delay task execution for one clock tick                 */
    }
}
/*$PAGE*/
/*
*********************************************************************************************************
*                                      TICKER INITIALIZATION
*
* Description : This function is used to initialize one of the five output compares to generate an
*               interrupt at the desired tick rate.  You must decide which output compare you will be
*               using by setting the configuration variable OS_TICK_OC (see OS_CFG.H and also OS_CPU_A.S) 
*               to 1, 2, 3, 4 or 5 depending on which output compare to use.
*                   OS_TICK_OC set to 1 chooses output compare #1 as the ticker source
*                   OS_TICK_OC set to 2 chooses output compare #2 as the ticker source
*                   OS_TICK_OC set to 3 chooses output compare #3 as the ticker source
*                   OS_TICK_OC set to 4 chooses output compare #4 as the ticker source
*                   OS_TICK_OC set to 5 chooses output compare #5 as the ticker source
* Arguments   : none
* Notes       : 1) It is assumed that you have set the prescaler rate of the free running timer within
*                  the first 64 E clock cycles of the 68HC11.
*               2) TCNT, TOC1, TOC2, TOC3, TOC4, TOC5 and TMSK1 are define in IOF1.H (see COSMIC
*                  compiler) and in OS_CPU_A.S.
*********************************************************************************************************
*/

static void AppTickInit (void)
{
#if OS_TICK_OC == 1
    TOC1   = TCNT + OS_TICK_OC_CNTS;        /* Set TOC1 to present time + OS_TICK_OC_CNTS              */
    TMSK1 |= 0x80;                          /* Enable OC1 interrupt.                                   */
#endif

#if OS_TICK_OC == 2
    TOC2   = TCNT + OS_TICK_OC_CNTS;        /* Set TOC2 to present time + OS_TICK_OC_CNTS              */
    TMSK1 |= 0x40;                          /* Enable OC2 interrupt.                                   */
#endif

#if OS_TICK_OC == 3
    TOC3   = TCNT + OS_TICK_OC_CNTS;        /* Set TOC3 to present time + OS_TICK_OC_CNTS              */
    TMSK1 |= 0x20;                          /* Enable OC3 interrupt.                                   */
#endif

#if OS_TICK_OC == 4
    TOC4   = TCNT + OS_TICK_OC_CNTS;        /* Set TOC4 to present time + OS_TICK_OC_CNTS              */
    TMSK1 |= 0x10;                          /* Enable OC4 interrupt.                                   */
#endif

#if OS_TICK_OC == 5
    TOC5   = TCNT + OS_TICK_OC_CNTS;        /* Set TOC5 to present time + OS_TICK_OC_CNTS              */
    TMSK1 |= 0x08;                          /* Enable OC5 interrupt.                                   */
#endif
}