/*
 * main.c
 *
 *  Created on: Aug 2, 2016
 *      Author: tkl
 */

#include <stdbool.h>

#include "driver.h"
#include "board.h"
#include "stack.h"
#include "queue.h"
#include "kernel.h"
#include "driver.h"
#include "list.h"
#include "shell.h"

#define TH_STACK_SIZE  256
stack_t th_stack[TH_STACK_SIZE];
struct thread_context th_ctx;
static void th_func(void *arg)
{
	drv_open(&pwm_1);
	drv_open(&pwm_2);
	drv_open(&pwm_3);
	drv_open(&pwm_4);
	while(1) {
		for(unsigned int duty = 0; duty < 100; duty++) {
			drv_ioctl(&pwm_1, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
			drv_ioctl(&pwm_2, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
			drv_ioctl(&pwm_3, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
			drv_ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
			sleep_ms(10);
		}
		for(unsigned int duty = 98; duty > 0; duty--) {
			drv_ioctl(&pwm_1, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
			drv_ioctl(&pwm_2, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
			drv_ioctl(&pwm_3, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
			drv_ioctl(&pwm_4, IOCTL_PWM_SET_DUTY_CYCLE, (const void *)&duty);
			sleep_ms(10);
		}
	}
}

int main(void)
{
	board_init();
	thread_create(&th_ctx, th_stack, TH_STACK_SIZE, th_func, NULL, THREAD_PRIO_LOW);
	schedule_start();

	return 0;
}