#include "stm32f4xx.h"                  // Device header
#include "FreeRTOS.h"                   // ARM.FreeRTOS::RTOS:Core
#include "FreeRTOSConfig.h"             // ARM.FreeRTOS::RTOS:Config
#include "Task.h"
#include "queue.h"
#include "semphr.h"


SemaphoreHandle_t Semaphore = NULL;
TickType_t WakeTime1 = NULL;
TickType_t WakeTime2 = NULL;
TaskHandle_t BlinkTaskHandle = NULL;
TaskHandle_t SOSTaskHandle = NULL;

void vBlinkTask(void* pvParams)
{
    TickType_t WakeTime1 = xTaskGetTickCount();
    while(1)
    {
        if(Semaphore != NULL)
        {
            if((xSemaphoreTake(Semaphore,10) == pdTRUE) || (xSemaphoreGetMutexHolder(Semaphore) == BlinkTaskHandle))
            {
                for(char i=0; i<4; i++)
                {
                    GPIOA->ODR |= GPIO_ODR_ODR_5;
                    vTaskDelay(pdMS_TO_TICKS(500));
                    GPIOA->ODR &= ~GPIO_ODR_ODR_5;
                    vTaskDelay(pdMS_TO_TICKS(500));
                }
                xSemaphoreGive(Semaphore);
                vTaskDelayUntil(&WakeTime1, pdMS_TO_TICKS(8000));
            }
            else taskYIELD();
        }
    }
}

void vSOSTask(void* pvParams)
{
    TickType_t WakeTime2 = xTaskGetTickCount();
    while(1)
    {
        if(Semaphore != NULL)
        {
            if((xSemaphoreTake(Semaphore,10) == pdTRUE) || ( xSemaphoreGetMutexHolder(Semaphore) == SOSTaskHandle))
            {
                for( char i=0; i<3; i++ )
                {
                    GPIOA->ODR |= GPIO_ODR_ODR_6;
                    vTaskDelay(pdMS_TO_TICKS(150));
                    GPIOA->ODR &= ~GPIO_ODR_ODR_6;
                    vTaskDelay(pdMS_TO_TICKS(150));
                }
                for( char i=0; i<3; i++ )
                {
                    GPIOA->ODR |= GPIO_ODR_ODR_6;
                    vTaskDelay(pdMS_TO_TICKS(400));
                    GPIOA->ODR &= ~GPIO_ODR_ODR_6;
                    vTaskDelay(pdMS_TO_TICKS(400));
                }
                for( char i=0; i<3; i++ )
                {
                    GPIOA->ODR |= GPIO_ODR_ODR_6;
                    vTaskDelay(pdMS_TO_TICKS(150));
                    GPIOA->ODR &= ~GPIO_ODR_ODR_6;
                    vTaskDelay(pdMS_TO_TICKS(150));
                }
                xSemaphoreGive(Semaphore);
                vTaskDelayUntil(&WakeTime2, pdMS_TO_TICKS(8000));
            }
            else taskYIELD();
        }
    }
}

int main(void)
{
    RCC->AHB1ENR |= RCC_AHB1ENR_GPIOAEN;
    GPIOA->MODER |= GPIO_MODER_MODER5_0 | GPIO_MODER_MODER6_0;
    xTaskCreate(vBlinkTask, "BlinkingDiode", configMINIMAL_STACK_SIZE, NULL, 1, &BlinkTaskHandle);
    xTaskCreate(vSOSTask, "SOSDiode", configMINIMAL_STACK_SIZE, NULL, 1, &SOSTaskHandle);
    Semaphore = xSemaphoreCreateMutex();
    vTaskStartScheduler();
    while(1)
    {
    }
}