/*
    FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd.

    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS provides completely free yet professionally developed,    *
     *    robust, strictly quality controlled, supported, and cross          *
     *    platform software that has become a de facto standard.             *
     *                                                                       *
     *    Help yourself get started quickly and support the FreeRTOS         *
     *    project by purchasing a FreeRTOS tutorial book, reference          *
     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
     *                                                                       *
     *    Thank you!                                                         *
     *                                                                       *
    ***************************************************************************

    This file is part of the FreeRTOS distribution.

    FreeRTOS is free software; you can redistribute it and/or modify it under
    the terms of the GNU General Public License (version 2) as published by the
    Free Software Foundation >>!AND MODIFIED BY!<< the FreeRTOS exception.

    >>! NOTE: The modification to the GPL is included to allow you to distribute
    >>! a combined work that includes FreeRTOS without being obliged to provide
    >>! the source code for proprietary components outside of the FreeRTOS
    >>! kernel.

    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
    WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
    FOR A PARTICULAR PURPOSE.  Full license text is available from the following
    link: http://www.freertos.org/a00114.html

    1 tab == 4 spaces!

    ***************************************************************************
     *                                                                       *
     *    Having a problem?  Start by reading the FAQ "My application does   *
     *    not run, what could be wrong?"                                     *
     *                                                                       *
     *    http://www.FreeRTOS.org/FAQHelp.html                               *
     *                                                                       *
    ***************************************************************************

    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
    license and Real Time Engineers Ltd. contact details.

    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
    compatible FAT file system, and our tiny thread aware UDP/IP stack.

    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
    licenses offer ticketed support, indemnification and middleware.

    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
    engineered and independently SIL3 certified version for use in safety and
    mission critical applications that require provable dependability.

    1 tab == 4 spaces!
*/

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "queue.h"

/* Demo includes. */
#include "lcd.h"

/*
 * The LCD is written to by more than one task so is controlled by this
 * 'gatekeeper' task.  This is the only task that is actually permitted to
 * access the LCD directly.  Other tasks wanting to display a message send
 * the message to the gatekeeper.
 */
static void vLCDTask( void *pvParameters );

/*
 * Setup the peripherals required to communicate with the LCD.
 */
static void prvSetupLCD( void );

/* 
 * Move to the first (0) or second (1) row of the LCD. 
 */
static void prvLCDGotoRow( unsigned portSHORT usRow );

/* 
 * Write a string of text to the LCD. 
 */
static void prvLCDPutString( portCHAR *pcString );

/* 
 * Clear the LCD. 
 */
static void prvLCDClear( void );

/*-----------------------------------------------------------*/

/* Brief delay to permit the LCD to catch up with commands. */
#define lcdVERY_SHORT_DELAY	( 1 )
#define lcdSHORT_DELAY		( 4 / portTICK_RATE_MS )
#define lcdLONG_DELAY		( 15 / portTICK_RATE_MS )

/* LCD commands. */
#define lcdCLEAR			( 0x01 )
#define lcdHOME				( 0x02 )
#define lcdLINE2			( 0xc0 )

/* SFR that seems to be missing from the standard header files. */
#define PMAEN				*( ( unsigned short * ) 0x60c )

/* LCD R/W signal. */
#define  lcdRW  LATDbits.LATD5       

/* LCD lcdRS signal. */
#define  lcdRS  LATBbits.LATB15      

/* LCD lcdE signal . */
#define  lcdE   LATDbits.LATD4       

/* Control signal pin direction. */
#define  RW_TRIS	TRISDbits.TRISD5 
#define  RS_TRIS	TRISBbits.TRISB15
#define  E_TRIS		TRISDbits.TRISD4

/* Port for LCD data */
#define  lcdDATA      LATE           
#define  lcdDATAPORT  PORTE

/* I/O setup for data Port. */
#define  TRISDATA  TRISE          

/* The length of the queue used to send messages to the LCD gatekeeper task. */
#define lcdQUEUE_SIZE		3
/*-----------------------------------------------------------*/

/* The queue used to send messages to the LCD task. */
xQueueHandle xLCDQueue;

static void prvLCDCommand( portCHAR cCommand );
static void prvLCDData( portCHAR cChar );

/*-----------------------------------------------------------*/

xQueueHandle xStartLCDTask( void )
{
	/* Create the queue used by the LCD task.  Messages for display on the LCD
	are received via this queue. */
	xLCDQueue = xQueueCreate( lcdQUEUE_SIZE, sizeof( xLCDMessage ) );

	/* Start the task that will write to the LCD.  The LCD hardware is
	initialised from within the task itself so delays can be used. */
	xTaskCreate( vLCDTask, ( signed portCHAR * ) "LCD", configMINIMAL_STACK_SIZE, NULL, tskIDLE_PRIORITY + 1, NULL );

	return xLCDQueue;
}
/*-----------------------------------------------------------*/

static void prvLCDGotoRow( unsigned portSHORT usRow )
{
	if( usRow == 0 )
	{
		prvLCDCommand( lcdHOME );
	}
	else
	{
		prvLCDCommand( lcdLINE2 );
	}
}
/*-----------------------------------------------------------*/

static void prvLCDCommand( portCHAR cCommand ) 
{
	/* Prepare RD0 - RD7. */
	lcdDATA &= 0xFF00;               

	/* Command byte to lcd. */
    lcdDATA |= cCommand;                  

	/* Ensure lcdRW is 0. */
	lcdRW = 0;                       
    lcdRS = 0;

	/* Toggle lcdE line. */
    lcdE = 1;                        
    vTaskDelay( lcdVERY_SHORT_DELAY );
    lcdE = 0;

   	vTaskDelay( lcdSHORT_DELAY );
}
/*-----------------------------------------------------------*/

static void prvLCDData( portCHAR cChar )
{
	/* ensure lcdRW is 0. */
	lcdRW = 0;       				 

	/* Assert register select to 1. */
    lcdRS = 1;                       

	/* Prepare RD0 - RD7. */
	lcdDATA &= 0xFF00;               

	/* Data byte to lcd. */
    lcdDATA |= cChar;                 
    lcdE = 1;				
 	Nop();
    Nop();
    Nop();

	/* Toggle lcdE signal. */
    lcdE = 0;                       

	/* Negate register select to 0. */
    lcdRS = 0;                      

	vTaskDelay( lcdVERY_SHORT_DELAY );
}
/*-----------------------------------------------------------*/

static void prvLCDPutString( portCHAR *pcString )
{
	/* Write out each character with appropriate delay between each. */
	while( *pcString )
	{
		prvLCDData( *pcString );
		pcString++;
		vTaskDelay( lcdSHORT_DELAY );
	}
}
/*-----------------------------------------------------------*/

static void prvLCDClear( void )
{
	prvLCDCommand( lcdCLEAR );
}
/*-----------------------------------------------------------*/

static void prvSetupLCD( void )
{
	/* Wait for proper power up. */
	vTaskDelay( lcdLONG_DELAY );
			
	/* Set initial states for the data and control pins */
	LATE &= 0xFF00;	

	/* R/W state set low. */
    lcdRW = 0;                       

	/* lcdRS state set low. */
	lcdRS = 0;                       

	/* lcdE state set low. */
	lcdE = 0;                        

	/* Set data and control pins to outputs */
	TRISE &= 0xFF00;

	/* lcdRW pin set as output. */
 	RW_TRIS = 0;                  

	/* lcdRS pin set as output. */
	RS_TRIS = 0;                  

	/* lcdE pin set as output. */
	E_TRIS = 0;                   

	/* 1st LCD initialization sequence */
	lcdDATA &= 0xFF00;
    lcdDATA |= 0x0038;
    lcdE = 1;	
    Nop();
    Nop();
    Nop();

	/* Toggle lcdE signal. */
    lcdE = 0;                        

	vTaskDelay( lcdSHORT_DELAY );
	vTaskDelay( lcdSHORT_DELAY );
	vTaskDelay( lcdSHORT_DELAY );
      
	/* 2nd LCD initialization sequence */
	lcdDATA &= 0xFF00;
    lcdDATA |= 0x0038;
    lcdE = 1;	
    Nop();
    Nop();
    Nop();	

	/* Toggle lcdE signal. */
    lcdE = 0;                        

    vTaskDelay( lcdSHORT_DELAY );

	/* 3rd LCD initialization sequence */
	lcdDATA &= 0xFF00;
    lcdDATA |= 0x0038;
    lcdE = 1;		
    Nop();
    Nop();
    Nop();	

	/* Toggle lcdE signal. */
    lcdE = 0;                        

	vTaskDelay( lcdSHORT_DELAY );


	/* Function set. */
    prvLCDCommand( 0x38 );              

	/* Display on/off control, cursor blink off (0x0C). */
    prvLCDCommand( 0x0C );              

	/* Entry mode set (0x06). */
    prvLCDCommand( 0x06 );		

	prvLCDCommand( lcdCLEAR );	  
}
/*-----------------------------------------------------------*/

static void vLCDTask( void *pvParameters )
{
xLCDMessage xMessage;
unsigned portSHORT usRow = 0;

	/* Initialise the hardware.  This uses delays so must not be called prior
	to the scheduler being started. */
	prvSetupLCD();

	/* Welcome message. */
	prvLCDPutString( "www.FreeRTOS.org" );

	for( ;; )
	{
		/* Wait for a message to arrive that requires displaying. */
		while( xQueueReceive( xLCDQueue, &xMessage, portMAX_DELAY ) != pdPASS );

		/* Clear the current display value. */
		prvLCDClear();

		/* Switch rows each time so we can see that the display is still being
		updated. */
		prvLCDGotoRow( usRow & 0x01 );
		usRow++;
		prvLCDPutString( xMessage.pcMessage );

		/* Delay the requested amount of time to ensure the text just written 
		to the LCD is not overwritten. */
		vTaskDelay( xMessage.xMinDisplayTime );		
	}
}




