/*-------------------------------------------------------------*
 * 4b: "uCOS - timer handling"                                 *
 *-------------------------------------------------------------*/

/***************************************************************
 * "AVR ExperimentBoard" port assignment information:
 ***************************************************************
 *
 * LED0(P):PortC.0          LED4(P):PortC.4
 * LED1(P):PortC.1          LED5(P):PortC.5
 * LED2(S):PortC.2          LED6(S):PortC.6
 * LED3(Z):PortC.3          LED7(Z):PortC.7        INT:PortE.4
 *
 * SW0:PortG.0     SW1:PortG.1     SW2:PortG.4     SW3:PortG.3
 *
 * BT0:PortE.5     BT1:PortE.6     BT2:PortE.7     BT3:PortB.7
 *
 * INT[4-7] is on PORTE.[4-7]
 *
 ***************************************************************
 *
 * AIN:PortF.0     NTK:PortF.1    OPTO:PortF.2     POT:PortF.3
 *
 ***************************************************************
 *
 * LCD1(VSS) = GND         LCD9(DB2): -
 * LCD2(VDD) = VCC         LCD10(DB3): -
 * LCD3(VO ) = GND         LCD11(DB4): PortA.4
 * LCD4(RS ) = PortA.0     LCD12(DB5): PortA.5
 * LCD5(R/W) = GND         LCD13(DB6): PortA.6
 * LCD6(E  ) = PortA.1     LCD14(DB7): PortA.7
 * LCD7(DB0) = -           LCD15(BLA): VCC
 * LCD8(DB1) = -           LCD16(BLK): PortB.5 (1=Backlight ON)
 *
 ***************************************************************
 *
 * CPU frequency: 11,0592 MHz
 *
 ***************************************************************/

/******************************************************************
 * THE COMMON INCLUDE FILE                                        *
 ******************************************************************/

#include "includes.h"

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

// Stack sizes
#define TASK1_STK_SIZE  128
#define TASK2_STK_SIZE  128
#define TASK3_STK_SIZE  128

/******************************************************************
 * Task priorities:                                               *
 *   - the lower number means the greater priority!               *
 *   - the first four (0..3) and                                  *
 *     the last four (OS_LOWEST_PRIO-3..OS_LOWEST_PRIO)           *
 *     priority levels are reserved by the OS                     *
 ******************************************************************/
#define TASK1_PRIO  10
#define TASK2_PRIO  15
#define TASK3_PRIO  16

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

// Stacks
OS_STK  Task1Stk[TASK1_STK_SIZE];
OS_STK  Task2Stk[TASK2_STK_SIZE];
OS_STK  Task3Stk[TASK3_STK_SIZE];



/******************************************************************
 * FUNCTION DECLARATIONS                                          *
 ******************************************************************/

void  Task1(void *data);
void  Task2(void *data);
void  Task3(void *data);

volatile int dir;
OS_EVENT* szemafor;

/******************************************************************
 * MAIN                                                           *
 ******************************************************************/

int main (void)
{
    /* Initializing inner OS variables, creating idle task, ... */
    OSInit();

    szemafor=OSSemCreate(1);

    /* Creating the initializing task */
    OSTaskCreate(Task1, NULL, &Task1Stk[TASK1_STK_SIZE - 1], TASK1_PRIO);

    /* Start multitasking. ( OSStart() never returns! ) */
    OSStart();

    return 0;
}

/******************************************************************
 * Tasks                                                          *
 ******************************************************************/

/* Initialize timer interrupt AND create other tasks */
void Task1(void *data) {

    /* Initialize timer interrupt */
    OS_ENTER_CRITICAL();
        TCCR0=0x07;        // Set TIMER0 prescaler to CLK/1024
        TIMSK=_BV(TOIE0);  // Enable TIMER0 overflow interrupt
        // Set the counter initial value (it is reloaded by the OS
        // with the same value upon every timer IT):
        TCNT0=256-(CPU_CLOCK_HZ/OS_TICKS_PER_SEC/1024);
    OS_EXIT_CRITICAL();

    LCD_init();
    LCD_light_on();
    stdout=&LCD_stdout;
    printf("asdasd");

    /* Create other tasks */
    OSTaskCreate(Task2, NULL, &Task2Stk[TASK2_STK_SIZE - 1], TASK2_PRIO);
    OSTaskCreate(Task3, NULL, &Task3Stk[TASK3_STK_SIZE - 1], TASK3_PRIO);


    /* Delete current task (single-shot task architecture) */
    OSTaskDel(TASK1_PRIO);
}


void Task2(void *data) {
   DDRC=255;

   while(1){
        OSSemPend(szemafor,0,NULL);
        if(dir){
            if(PORTC==0x80)PORTC=1;
            else PORTC<<==1;
        }
        else{
            if(PORTC==1)PORTC=0x80;
            else PORTC>>==1;
        }
        OSSemPost(szemafor);
        OSTimeDlyHMSM(0,0,0,400);
   }
}


void Task3(void *data) {
    int prev=0x20;
    int mask=0x20;
    while(1){
        OSTimeDlyHMSM(0,0,0,10);
        if(prev==0 && (PINE&mask)==0x20)
            OSSemPend(szemafor,0,NULL);
            if(dir)=0;else dir=0;
            OSSemPost(szemafor);
        prev=PINE&mask;

    }
}