/* --------------------------------------------------------------------------
 * Original code from:
 * https://github.com/ARM-software/CMSIS-FreeRTOS/tree/develop/CMSIS/RTOS2/FreeRTOS/Examples/Blinky
 *
 * Copyright (c) 2013-2017 ARM Limited. All rights reserved.
 *
 * SPDX-License-Identifier: Apache-2.0
 *
 * Licensed under the Apache License, Version 2.0 (the License); you may
 * not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an AS IS BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 *      Original name:    Blinky.c
 *      OriginalPurpose: RTOS2 example program
 ************************************************
 * Abstract.txt:
 * The Blinky project is a simple CMSIS RTOS2 Kernel based example
 * for a simulated Cortex-M3 device.
 * The example simulates the step-motor driver. Four phase variables are
 * simulating the activation of the four output driver stages. The state
 * changes are output on the Watch window variable g_phases:
 * - phase A
 * - phase B
 * - phase C
 * - phase D
 *
 * This example simulates Half step driver mode and CW rotation direction.
 *
 * The Blinky example program is available for one target:
 *
 * Simulation: configured for a simulated on-chip Flash
 ************************************************
 * Updated to STM32FreeRTOS example
 *---------------------------------------------------------------------------*/

#include <STM32FreeRTOS.h>

osThreadId_t tid_phaseA;                /* Thread id of thread: phase_a      */
osThreadId_t tid_phaseB;                /* Thread id of thread: phase_b      */
osThreadId_t tid_phaseC;                /* Thread id of thread: phase_c      */
osThreadId_t tid_phaseD;                /* Thread id of thread: phase_d      */
osThreadId_t tid_clock;                 /* Thread id of thread: clock        */

struct phases_t {
  int_fast8_t phaseA;
  int_fast8_t phaseB;
  int_fast8_t phaseC;
  int_fast8_t phaseD;
} g_phases;


/*----------------------------------------------------------------------------
 *      Function 'signal_func' called from multiple threads
 *---------------------------------------------------------------------------*/
void signal_func (osThreadId_t tid)  {
  osThreadFlagsSet(tid_clock, 0x0100);      /* set signal to clock thread    */
  osDelay(500);                             /* delay 500ms                   */
  osThreadFlagsSet(tid_clock, 0x0100);      /* set signal to clock thread    */
  osDelay(500);                             /* delay 500ms                   */
  osThreadFlagsSet(tid, 0x0001);            /* set signal to thread 'thread' */
  osDelay(500);                             /* delay 500ms                   */
}

/*----------------------------------------------------------------------------
 *      Thread 1 'phaseA': Phase A output
 *---------------------------------------------------------------------------*/
void phaseA (void */*argument*/) {
  for (;;) {
    osThreadFlagsWait(0x0001, osFlagsWaitAny ,osWaitForever);   /* wait for an event flag 0x0001 */
    g_phases.phaseA = 1;
    digitalToggle(LED_BUILTIN);
    signal_func(tid_phaseB);                                    /* call common signal function   */
    g_phases.phaseA = 0;
  }
}

/*----------------------------------------------------------------------------
 *      Thread 2 'phaseB': Phase B output
 *---------------------------------------------------------------------------*/
void phaseB (void */*argument*/) {
  for (;;) {
    osThreadFlagsWait(0x0001, osFlagsWaitAny, osWaitForever);   /* wait for an event flag 0x0001 */
    g_phases.phaseB = 1;
    digitalToggle(LED_BUILTIN);
    signal_func(tid_phaseC);                                    /* call common signal function   */
    g_phases.phaseB = 0;
  }
}

/*----------------------------------------------------------------------------
 *      Thread 3 'phaseC': Phase C output
 *---------------------------------------------------------------------------*/
void phaseC (void */*argument*/) {
  for (;;) {
    osThreadFlagsWait(0x0001, osFlagsWaitAny, osWaitForever);   /* wait for an event flag 0x0001 */
    g_phases.phaseC = 1;
    digitalToggle(LED_BUILTIN);
    signal_func(tid_phaseD);                                    /* call common signal function   */
    g_phases.phaseC = 0;
  }
}

/*----------------------------------------------------------------------------
 *      Thread 4 'phaseD': Phase D output
 *---------------------------------------------------------------------------*/
void phaseD (void */*argument*/) {
  for (;;) {
    osThreadFlagsWait(0x0001, osFlagsWaitAny, osWaitForever);   /* wait for an event flag 0x0001 */
    g_phases.phaseD = 1;
    digitalToggle(LED_BUILTIN);
    signal_func(tid_phaseA);                                    /* call common signal function   */
    g_phases.phaseD = 0;
  }
}

/*----------------------------------------------------------------------------
 *      Thread 5 'clock': Signal Clock
 *---------------------------------------------------------------------------*/
void clock (void */*argument*/) {
  for (;;) {
    osThreadFlagsWait(0x0100, osFlagsWaitAny, osWaitForever);   /* wait for an event flag 0x0100 */
    osDelay(80);                                                /* delay  80ms                   */
  }
}

/*----------------------------------------------------------------------------
 *      Main: Initialize and start the application
 *---------------------------------------------------------------------------*/
void app_main (void */*argument*/) {

  tid_phaseA = osThreadNew(phaseA, NULL, NULL);
  tid_phaseB = osThreadNew(phaseB, NULL, NULL);
  tid_phaseC = osThreadNew(phaseC, NULL, NULL);
  tid_phaseD = osThreadNew(phaseD, NULL, NULL);
  tid_clock  = osThreadNew(clock,  NULL, NULL);

  osThreadFlagsSet(tid_phaseA, 0x0001); /* set signal to phaseA thread   */

  osDelay(osWaitForever);
  while(1);
}

/*----------------------------------------------------------------------------
 *      Main: Initialize and start the RTOS2 Kernel
 *---------------------------------------------------------------------------*/
void setup() {
  pinMode(LED_BUILTIN, OUTPUT);

  osKernelInitialize();                 // Initialize CMSIS-RTOS
  osThreadNew(app_main, NULL, NULL);    // Create application main thread
  if (osKernelGetState() == osKernelReady) {
    osKernelStart();                    // Start thread execution
  }

  while(1);
}

//------------------------------------------------------------------------------
// loop must never block
void loop() {
}