/*************************************************************************
* Copyright (c) 2004 Altera Corporation, San Jose, California, USA.      *
* All rights reserved. All use of this software and documentation is     *
* subject to the License Agreement located at the end of this file below.*
**************************************************************************
* Description:                                                           *
* The following is a simple hello world program running MicroC/OS-II.The *
* purpose of the design is to be a very simple application that just     *
* demonstrates MicroC/OS-II running on NIOS II.The design doesn't account*
* for issues such as checking system call return codes. etc.             *
*                                                                        *
* Requirements:                                                          *
*   -Supported Example Hardware Platforms                                *
*     Standard                                                           *
*     Full Featured                                                      *
*     Low Cost                                                           *
*   -Supported Development Boards                                        *
*     Nios II Development Board, Stratix II Edition                      *
*     Nios Development Board, Stratix Professional Edition               *
*     Nios Development Board, Stratix Edition                            *
*     Nios Development Board, Cyclone Edition                            *
*   -System Library Settings                                             *
*     RTOS Type - MicroC/OS-II                                           *
*     Periodic System Timer                                              *
*   -Know Issues                                                         *
*     If this design is run on the ISS, terminal output will take several*
*     minutes per iteration.                                             *
**************************************************************************/


#include <stdio.h>
#include "includes.h"
#include <system.h>
#include <io.h>

//        sw_sliders
#define  SW0 0x00000001
#define  SW1 0x00000002
#define  SW2 0x00000004
#define  SW3 0x00000008
#define  SW4 0x00000010
#define  SW5 0x00000020
#define  SW6 0x00000040
//      leds
#define  LED0 0x00000001
#define  LED1 0x00000002
#define  LED2 0x00000004
#define  LED3 0x00000008
#define  LED4 0x00000010
#define  LED5 0x00000020
#define  LED6 0x00000040
#define  LED7 0x00000080
#define  LED8 0x00000100
#define  LED9 0x00000200
//      hex
#define  SEGA 0x00001
#define  SEGB 0x00002
#define  SEGC 0x00004
#define  SEGD 0x00008
#define  SEGE 0x00010
#define  SEGF 0x00020
#define  SEGG 0x00040
//     hex - numbers
#define ZERO SEGA | SEGB | SEGC | SEGD |SEGE | SEGF
#define ONE  SEGB | SEGC
#define TWO  SEGA | SEGB | SEGG | SEGE | SEGD
#define THREE SEGA | SEGB | SEGC | SEGD | SEGG
#define FOUR SEGG | SEGF | SEGB | SEGC
#define FIVE SEGA | SEGE | SEGG | SEGC | SEGD
#define E  SEGA | SEGD | SEGE | SEGF | SEGG
#define R  SEGE | SEGG

/* Definition of Task Stacks */
#define   TASK_STACKSIZE       2048
OS_STK    task1_stk[TASK_STACKSIZE];
OS_STK    task2_stk[TASK_STACKSIZE];
OS_STK    task3_stk[TASK_STACKSIZE];
OS_STK    task4_stk[TASK_STACKSIZE];
OS_STK    task5_stk[TASK_STACKSIZE];
OS_STK    task6_stk[TASK_STACKSIZE];

/* Definition of Task Priorities */

#define TASK1_PRIORITY      1 // taski musza miec rozne priorytety wszystko wygaszone
#define TASK2_PRIORITY      2 // 1 Czerwone 1 tramwaj stoi 2 zielione 2 tramwaj jedzie
#define TASK3_PRIORITY      3 // 1 Czerwone zolte 1 tramwaj stoi 2 zolte 2 tramwaj jedzie
#define TASK4_PRIORITY      4 // 1 zielone 1 tramwaj jedzie 2 czerwone 2 tramwaj stoi
#define TASK5_PRIORITY      5 // 1 zolte 1 tramwaj jedzie 2 czerwone zolte 2 tramwaj stoi
#define TASK6_PRIORITY      6 // awaria skrzyzowania zolte tramwaj obydwa zapalone.


OS_EVENT *SWBox1;

/* Prints "Hello World" and sleeps for three seconds */
void task1(void* pdata)
{
  while (1)
  {
      int sw;
      sw= IORD(SW_SLIDERS_BASE, 0);

      switch(sw){
         case 0:
             for(int i=0; i<6 ; i++){
                 IOWR(HEX_BASE, i, 0x0); }
                 IOWR(LEDS_BASE, 0, 0x0);
                 IOWR(LEDS_BASE, 0, 0xfff);
             break;
      case 1:
          break;
      case 2:
              break;
      case 4:
              break;
      case 8:
              break;
      case 16:
                  break;
      default:
          if(sw > 32){
              break;
          }
                  IOWR(HEX_BASE, 2, E);
                  IOWR(HEX_BASE, 1, R);
                  IOWR(HEX_BASE, 0, R);

  }


      OSMboxPostOpt(SWBox1, &sw, OS_POST_OPT_BROADCAST);
      OSTimeDlyHMSM(0, 0, 0, 10);
  }
}
/* Prints "Hello World" and sleeps for three seconds */
void task2(void* pdata)
{while (1)
        {
      INT8U err;
      int *num;
      num = OSMboxPend(SWBox1, 0, &err);
      printf("T2 =  \t [ %d ]\n", *num);

      switch(*num){
     case 1: // 1 Czerwone 1 tramwaj stoi 2 zielione 2 tramwaj jedzie
    	 	 	 	 	 	  IOWR(LEDS_BASE, 0, LED0); // 1 CZ
    	                      IOWR(SKRZYZOWANIE_0_BASE, 0, 0); // -- LED1(3): ON LED2(4): OFF LED3(8): OFF LED4(9): ON
    	                      IOWR(LEDS_BASE, 0, LED7);// 2 Ziel

                     break;}

      OSTimeDlyHMSM(0, 0, 0, 10);
  }
}


  void task3(void* pdata)
  {while (1)
        {
      INT8U err;
      int *num;
      num = OSMboxPend(SWBox1, 0, &err);
      printf("T3 = \t\t [ %d ]\n", *num);

      switch(*num){
    case 2: // 1 Czerwone zolte 1 tramwaj stoi 2 zolte 2 tramwaj jedzie
                      IOWR(LEDS_BASE, 0, LED0); // 1 CZ zol
                      IOWR(LEDS_BASE, 0, LED1); // 1 CZ zol
                      IOWR(LEDS_BASE, 0, LED6);// 2 Zolte
                      IOWR(SKRZYZOWANIE_0_BASE, 0, 0); // -- LED1(3): ON LED2(4): OFF LED3(8): OFF LED4(9): ON


                             break;}

              OSTimeDlyHMSM(0, 0, 0, 10);
          }
        }


  void task4(void* pdata)
  {
      while (1)
        {
      INT8U err;
      int *num;
      num = OSMboxPend(SWBox1, 0, &err);
      printf("T4 =  \t [ %d ]\n", *num);

     switch(*num){
     case 4: // 1 zielone 1 tramwaj jedzie 2 czerwone 2 tramwaj stoi
                      IOWR(LEDS_BASE, 0, LED2); // 1 ziel
                      IOWR(LEDS_BASE, 0, LED5);// 2 cz
                      IOWR(SKRZYZOWANIE_0_BASE, 0, 0); // -- LED1(3): ON LED2(4): OFF LED3(8): OFF LED4(9): ON
                     break;}

      OSTimeDlyHMSM(0, 0, 0, 10);
   }
 }


  void task5(void* pdata)
  {

      while (1)
        {
      INT8U err;
      int *num;
      num = OSMboxPend(SWBox1, 0, &err);
     //  printf("T5 =  \t [ %d ]\n", *num);

     switch(*num){
        case 8:// 1 zolte 1 tramwaj jedzie 2 czerwone zolte 2 tramwaj stoi
                          IOWR(LEDS_BASE, 0, LED1); // 1 zolte
                          IOWR(LEDS_BASE, 0, LED5);// 2 Zolte
                          IOWR(LEDS_BASE, 0, LED6);// 2 Zolte
                          IOWR(SKRZYZOWANIE_0_BASE, 0, 0); // -- LED1(3): ON LED2(4): OFF LED3(8): OFF LED4(9): ON
                             break;}

              OSTimeDlyHMSM(0, 0, 0, 10);
          }
        }


  void task6(void* pdata)
  {
      int i=0;
      while (1)
        {
      INT8U err;
      int *num;
      num = OSMboxPend(SWBox1, 0, &err);
     //  printf("T5 =  \t [ %d ]\n", *num);

     switch(*num){
         case 16: // awaria skrzyzowania zolte tramwaj obydwa zapalone.

                                      while(1){
                                          if(i % 2 == 0){
                                              IOWR(LEDS_BASE, 0, LED1); // 1 zolte

                                              IOWR(LEDS_BASE, 0, LED6);// 2 Zolte
                                              IOWR(SKRZYZOWANIE_0_BASE, 0, 4); // -- LED1(3): ON LED2(4): on LED3(8): on LED4(9): ON
                                              for(int k=0; k<50000000 ; k++){ // opoznienie procesore 2 mhz o 1 sek
                                                                 }
                                          }
                                          else{
                                              IOWR(LEDS_BASE, 0, 0x0);
                                              IOWR(SKRZYZOWANIE_0_BASE, 0, 3);// -- LED1(3): off LED2(4): off LED3(8): off LED4(9): off
                                              for(int k=0; k<50000000 ; k++){ // opoznienie procesore 2 mhz o 1 sek
                                                                 }
                                          }
                                          i++;
                                      }
                                         break;}

                          OSTimeDlyHMSM(0, 0, 0, 10);
                      }
                    }



/* The main function creates two task and starts multi-tasking */
int main(void)
{
    SWBox1 =OSMboxCreate((void*)0);

  OSTaskCreateExt(task1,
                  NULL,
                  (void *)&task1_stk[TASK_STACKSIZE-1],
                  TASK1_PRIORITY,
                  TASK1_PRIORITY,
                  task1_stk,
                  TASK_STACKSIZE,
                  NULL,
                  0);


  OSTaskCreateExt(task2,
                  NULL,
                  (void *)&task2_stk[TASK_STACKSIZE-1],
                  TASK2_PRIORITY,
                  TASK2_PRIORITY,
                  task2_stk,
                  TASK_STACKSIZE,
                  NULL,
                  0);

  OSTaskCreateExt(task3,
                  NULL,
                  (void *)&task3_stk[TASK_STACKSIZE-1],
                  TASK3_PRIORITY,
                  TASK3_PRIORITY,
                  task3_stk,
                  TASK_STACKSIZE,
                  NULL,
                  0);

  OSTaskCreateExt(task4,
                   NULL,
                   (void *)&task4_stk[TASK_STACKSIZE-1],
                   TASK4_PRIORITY,
                   TASK4_PRIORITY,
                   task4_stk,
                   TASK_STACKSIZE,
                   NULL,
                   0);

  OSTaskCreateExt(task5,
                   NULL,
                   (void *)&task5_stk[TASK_STACKSIZE-1],
                   TASK5_PRIORITY,
                   TASK5_PRIORITY,
                   task5_stk,
                   TASK_STACKSIZE,
                   NULL,
                   0);
  OSTaskCreateExt(task6,
                    NULL,
                    (void *)&task5_stk[TASK_STACKSIZE-1],
                    TASK6_PRIORITY,
                    TASK6_PRIORITY,
                    task6_stk,
                    TASK_STACKSIZE,
                    NULL,
                    0);
  OSStart(); // start taskow
  return 0;
}

/******************************************************************************
*                                                                             *
* License Agreement                                                           *
*                                                                             *
* Copyright (c) 2004 Altera Corporation, San Jose, California, USA.           *
* All rights reserved.                                                        *
*                                                                             *
* Permission is hereby granted, free of charge, to any person obtaining a     *
* copy of this software and associated documentation files (the "Software"),  *
* to deal in the Software without restriction, including without limitation   *
* the rights to use, copy, modify, merge, publish, distribute, sublicense,    *
* and/or sell copies of the Software, and to permit persons to whom the       *
* Software is furnished to do so, subject to the following conditions:        *
*                                                                             *
* The above copyright notice and this permission notice shall be included in  *
* all copies or substantial portions of the Software.                         *
*                                                                             *
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR  *
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,    *
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER      *
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING     *
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER         *
* DEALINGS IN THE SOFTWARE.                                                   *
*                                                                             *
* This agreement shall be governed in all respects by the laws of the State   *
* of California and by the laws of the United States of America.              *
* Altera does not recommend, suggest or require that this reference design    *
* file be used in conjunction or combination with any other product.          *
******************************************************************************/