/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * File Name          : freertos.c
  * Description        : Code for freertos applications
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under Ultimate Liberty license
  * SLA0044, the "License"; You may not use this file except in compliance with
  * the License. You may obtain a copy of the License at:
  *                             www.st.com/SLA0044
  *
  ******************************************************************************
  */
/* USER CODE END Header */

/* Includes ------------------------------------------------------------------*/
#include "FreeRTOS.h"
#include "task.h"
#include "main.h"
#include "cmsis_os.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/
/* USER CODE BEGIN Variables */

/* USER CODE END Variables */
/* Definitions for DefaultTask */
osThreadId_t DefaultTaskHandle;
const osThreadAttr_t DefaultTask_attributes = {
  .name = "DefaultTask",
  .stack_size = 256 * 4,
  .priority = (osPriority_t) osPriorityNormal,
};
/* Definitions for UavcanRevTask */
osThreadId_t UavcanRevTaskHandle;
const osThreadAttr_t UavcanRevTask_attributes = {
  .name = "UavcanRevTask",
  .stack_size = 256 * 4,
  .priority = (osPriority_t) osPriorityAboveNormal3,
};
/* Definitions for UsartSendTask */
osThreadId_t UsartSendTaskHandle;
const osThreadAttr_t UsartSendTask_attributes = {
  .name = "UsartSendTask",
  .stack_size = 128 * 4,
  .priority = (osPriority_t) osPriorityBelowNormal2,
};
/* Definitions for UavcanSendTask */
osThreadId_t UavcanSendTaskHandle;
const osThreadAttr_t UavcanSendTask_attributes = {
  .name = "UavcanSendTask",
  .stack_size = 512 * 4,
  .priority = (osPriority_t) osPriorityAboveNormal4,
};
/* Definitions for UsartRevTask */
osThreadId_t UsartRevTaskHandle;
const osThreadAttr_t UsartRevTask_attributes = {
  .name = "UsartRevTask",
  .stack_size = 256 * 4,
  .priority = (osPriority_t) osPriorityAboveNormal7,
};
/* Definitions for proximityTask */
osThreadId_t proximityTaskHandle;
const osThreadAttr_t proximityTask_attributes = {
  .name = "proximityTask",
  .stack_size = 256 * 4,
  .priority = (osPriority_t) osPriorityAboveNormal4,
};
/* Definitions for uavcan_rev_queue */
osMessageQueueId_t uavcan_rev_queueHandle;
const osMessageQueueAttr_t uavcan_rev_queue_attributes = {
  .name = "uavcan_rev_queue"
};
/* Definitions for uavcan_send_queue */
osMessageQueueId_t uavcan_send_queueHandle;
const osMessageQueueAttr_t uavcan_send_queue_attributes = {
  .name = "uavcan_send_queue"
};
/* Definitions for usart_rev_queue */
osMessageQueueId_t usart_rev_queueHandle;
const osMessageQueueAttr_t usart_rev_queue_attributes = {
  .name = "usart_rev_queue"
};
/* Definitions for proximity1_queue */
osMessageQueueId_t proximity1_queueHandle;
const osMessageQueueAttr_t proximity1_queue_attributes = {
  .name = "proximity1_queue"
};
/* Definitions for proximity2_queue */
osMessageQueueId_t proximity2_queueHandle;
const osMessageQueueAttr_t proximity2_queue_attributes = {
  .name = "proximity2_queue"
};
/* Definitions for uavcan_send_mutex */
osMutexId_t uavcan_send_mutexHandle;
const osMutexAttr_t uavcan_send_mutex_attributes = {
  .name = "uavcan_send_mutex"
};
/* Definitions for radar_parse_mutex */
osMutexId_t radar_parse_mutexHandle;
const osMutexAttr_t radar_parse_mutex_attributes = {
  .name = "radar_parse_mutex"
};

/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */

/* USER CODE END FunctionPrototypes */

void StartDefaultTask(void *argument);
void StartUavcanRevTask(void *argument);
void StartTaskUsartSend(void *argument);
void StartUavcanSendTask(void *argument);
void StartUsartRevTask(void *argument);
void StartProximity(void *argument);

void MX_FREERTOS_Init(void); /* (MISRA C 2004 rule 8.1) */

/**
  * @brief  FreeRTOS initialization
  * @param  None
  * @retval None
  */
void MX_FREERTOS_Init(void) {
  /* USER CODE BEGIN Init */

  /* USER CODE END Init */
  /* Create the mutex(es) */
  /* creation of uavcan_send_mutex */
  uavcan_send_mutexHandle = osMutexNew(&uavcan_send_mutex_attributes);

  /* creation of radar_parse_mutex */
  radar_parse_mutexHandle = osMutexNew(&radar_parse_mutex_attributes);

  /* USER CODE BEGIN RTOS_MUTEX */
  /* add mutexes, ... */
  /* USER CODE END RTOS_MUTEX */

  /* USER CODE BEGIN RTOS_SEMAPHORES */
  /* add semaphores, ... */
  /* USER CODE END RTOS_SEMAPHORES */

  /* USER CODE BEGIN RTOS_TIMERS */
  /* start timers, add new ones, ... */
  /* USER CODE END RTOS_TIMERS */

  /* Create the queue(s) */
  /* creation of uavcan_rev_queue */
  uavcan_rev_queueHandle = osMessageQueueNew (10, sizeof(uavcan_rev_t), &uavcan_rev_queue_attributes);

  /* creation of uavcan_send_queue */
  uavcan_send_queueHandle = osMessageQueueNew (5, sizeof(uavcan_send_data_t), &uavcan_send_queue_attributes);

  /* creation of usart_rev_queue */
  usart_rev_queueHandle = osMessageQueueNew (10, sizeof(usart_data_t), &usart_rev_queue_attributes);

  /* creation of proximity1_queue */
  proximity1_queueHandle = osMessageQueueNew (5, sizeof(proximity_data_t), &proximity1_queue_attributes);

  /* creation of proximity2_queue */
  proximity2_queueHandle = osMessageQueueNew (5, sizeof(proximity_data_t), &proximity2_queue_attributes);

  /* USER CODE BEGIN RTOS_QUEUES */
  /* add queues, ... */
  /* USER CODE END RTOS_QUEUES */

  /* Create the thread(s) */
  /* creation of DefaultTask */
  DefaultTaskHandle = osThreadNew(StartDefaultTask, NULL, &DefaultTask_attributes);

  /* creation of UavcanRevTask */
  UavcanRevTaskHandle = osThreadNew(StartUavcanRevTask, NULL, &UavcanRevTask_attributes);

  /* creation of UsartSendTask */
  UsartSendTaskHandle = osThreadNew(StartTaskUsartSend, NULL, &UsartSendTask_attributes);

  /* creation of UavcanSendTask */
  UavcanSendTaskHandle = osThreadNew(StartUavcanSendTask, NULL, &UavcanSendTask_attributes);

  /* creation of UsartRevTask */
  UsartRevTaskHandle = osThreadNew(StartUsartRevTask, NULL, &UsartRevTask_attributes);

  /* creation of proximityTask */
  proximityTaskHandle = osThreadNew(StartProximity, NULL, &proximityTask_attributes);

  /* USER CODE BEGIN RTOS_THREADS */
  /* add threads, ... */
  /* USER CODE END RTOS_THREADS */

  /* USER CODE BEGIN RTOS_EVENTS */
  /* add events, ... */
  /* USER CODE END RTOS_EVENTS */

}

/* USER CODE BEGIN Header_StartDefaultTask */
/**
  * @brief  Function implementing the DefaultTask thread.
  * @param  argument: Not used
  * @retval None
  */
/* USER CODE END Header_StartDefaultTask */
void StartDefaultTask(void *argument)
{
  /* USER CODE BEGIN StartDefaultTask */
  /* Infinite loop */
    task_default_action();
  /* USER CODE END StartDefaultTask */
}

/* USER CODE BEGIN Header_StartUavcanRevTask */
/**
* @brief Function implementing the UavcanRevTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartUavcanRevTask */
void StartUavcanRevTask(void *argument)
{
  /* USER CODE BEGIN StartUavcanRevTask */
  /* Infinite loop */
  task_uavcan_rev_action();
  /* USER CODE END StartUavcanRevTask */
}

/* USER CODE BEGIN Header_StartTaskUsartSend */
/**
* @brief Function implementing the UsartSendTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartTaskUsartSend */
void StartTaskUsartSend(void *argument)
{
  /* USER CODE BEGIN StartTaskUsartSend */
  /* Infinite loop */
  task_usart_send();
  /* USER CODE END StartTaskUsartSend */
}

/* USER CODE BEGIN Header_StartUavcanSendTask */
/**
* @brief Function implementing the UavcanSendTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartUavcanSendTask */
void StartUavcanSendTask(void *argument)
{
  /* USER CODE BEGIN StartUavcanSendTask */
  /* Infinite loop */
  task_uavcan_send_action();
  /* USER CODE END StartUavcanSendTask */
}

/* USER CODE BEGIN Header_StartUsartRevTask */
/**
* @brief Function implementing the UsartRevTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartUsartRevTask */
void StartUsartRevTask(void *argument)
{
  /* USER CODE BEGIN StartUsartRevTask */
  /* Infinite loop */
   task_usart_rev_action();
  /* USER CODE END StartUsartRevTask */
}

/* USER CODE BEGIN Header_StartProximity */
/**
* @brief Function implementing the proximityTask thread.
* @param argument: Not used
* @retval None
*/
/* USER CODE END Header_StartProximity */
void StartProximity(void *argument)
{
  /* USER CODE BEGIN StartProximity */
  /* Infinite loop */
  task_proximity();
  /* USER CODE END StartProximity */
}

/* Private application code --------------------------------------------------*/
/* USER CODE BEGIN Application */

/* USER CODE END Application */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/