text: /* USER CODE BEGIN Header */
  /**
    ******************************************************************************
    * @file           : main.c
    * @brief          : Main program body
    ******************************************************************************
    * @attention
    *
    * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
    * All rights reserved.</center></h2>
    *
    * This software component is licensed by ST under BSD 3-Clause license,
    * the "License"; You may not use this file except in compliance with the
    * License. You may obtain a copy of the License at:
    *                        opensource.org/licenses/BSD-3-Clause
    *
    ******************************************************************************
    */
  /* USER CODE END Header */
  /* Includes ------------------------------------------------------------------*/
  #include "main.h"
  
  /* Private includes ----------------------------------------------------------*/
  /* USER CODE BEGIN Includes */
  #include "scheduler.c"
  /* 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 ---------------------------------------------------------*/
  UART_HandleTypeDef huart1;
  UART_HandleTypeDef huart2;
  
  /* USER CODE BEGIN PV */
  
  /* USER CODE END PV */
  
  /* Private function prototypes -----------------------------------------------*/
  void SystemClock_Config(void);
  static void MX_GPIO_Init(void);
  static void MX_USART2_UART_Init(void);
  static void MX_USART1_UART_Init(void);
  /* USER CODE BEGIN PFP */
  //extern struct task_queue DelayedQueue;
  
  /* USER CODE END PFP */
  
  /* Private user code ---------------------------------------------------------*/
  /* USER CODE BEGIN 0 */
  uint8_t msg_T1[7] = {"TASK #1"}; 
  uint8_t msg_T2[7] = {"TASK #2"}; 
  uint8_t msg_T3[7] = {"TASK #3"}; 
  uint8_t endline = '\n';
  uint8_t cr = '\r';
  
  void toggleLED (int n)
  {
  		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);  // LED HIGH
  		HAL_Delay(n);  
  		HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);  // LED LOW
  		HAL_Delay(n); 	
  }
  
  //Task 1 function implementation
  void Task1()
  {
  	for (int i=0; i<10; i++)
  	toggleLED(300); 
  	
  	ReRunMe(2);
  	HAL_UART_Transmit(&huart2, msg_T1, sizeof(msg_T1), HAL_MAX_DELAY);	
  	HAL_UART_Transmit(&huart2, &endline, 1, HAL_MAX_DELAY);	
  	HAL_UART_Transmit(&huart2, &cr, 1, HAL_MAX_DELAY);	
  }
  
  //Task 2 function implementation
  void Task2()
  {
  	for (int i=0; i<10; i++)
  	toggleLED(100);
  
  	ReRunMe(8);
  	HAL_UART_Transmit(&huart2, msg_T2, sizeof(msg_T2), HAL_MAX_DELAY);	
  	HAL_UART_Transmit(&huart2, &endline, 1, HAL_MAX_DELAY);	
  	HAL_UART_Transmit(&huart2, &cr, 1, HAL_MAX_DELAY);	
  }
  
  //Task 3 function implementation 
  void Task3()
  {
  	for (int i=0; i<10; i++)
  	toggleLED(50);
  	
  	ReRunMe(6); 
  	HAL_UART_Transmit(&huart2, msg_T3, sizeof(msg_T3), HAL_MAX_DELAY);	
  	HAL_UART_Transmit(&huart2, &endline, 1, HAL_MAX_DELAY);	
  	HAL_UART_Transmit(&huart2, &cr, 1, HAL_MAX_DELAY);	
  }
  
  //Task 4 function implementation
  void Task4()
  {
  	for (int i=0; i<10; i++)
  	toggleLED(20);
  
  	HAL_UART_Transmit(&huart2, msg_T2, sizeof(msg_T2), HAL_MAX_DELAY);	
  	HAL_UART_Transmit(&huart2, &endline, 1, HAL_MAX_DELAY);	
  	HAL_UART_Transmit(&huart2, &cr, 1, HAL_MAX_DELAY);	
  }
  
  ////////////////////////////////for the ultrasonic parking sensor app/////////////////////////////
  uint8_t local_time, sensor_time;
  uint8_t distance;
  //output pin4 GPIOB->trig->D12 board
  //input pin4 GPIOA->echo->A3 board
  //buzz --> PA1 --> A1 board
  uint8_t hcsr04_read (void)
  {
  	local_time = 0;
  	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_4, GPIO_PIN_RESET);  // pull the TRIG pin HIGH
  	HAL_Delay(2);  
  	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_4, GPIO_PIN_SET);    // pull the TRIG pin HIGH
  	HAL_Delay(10);  
  	HAL_GPIO_WritePin(GPIOB, GPIO_PIN_4, GPIO_PIN_RESET);  // pull the TRIG pin low
  
  	// read the time for which the pin is high
  	while (!(HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4)));        // wait for the ECHO pin to go high
  	while (HAL_GPIO_ReadPin(GPIOA, GPIO_PIN_4))            // while the pin is high
  	{
  		local_time++;                                        // measure time for which the pin is high
  		HAL_Delay (1);
  	}
  	return local_time;
  }
  //read the distance from the ultrasonic sensor
  void Read_Task()
  {
  	sensor_time = hcsr04_read();
    distance  = sensor_time * 3.4/2;
  	ReRunMe(2); 
  }
  //produe the buzzer sound based ont the read distance
  void BUZZ_Task()
  {
  	if (distance < 30)
  	 {
  		 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_SET);  // LED HIGH
  		 HAL_Delay(distance*30);  
  		 HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3, GPIO_PIN_RESET);  // LED LOW
  		 HAL_Delay(distance*30); 
  		 
  		 HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_SET);  // BUZZ HIGH
  	   HAL_Delay(distance*30);  
  	   HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);  // BUZZ LOW
  	   HAL_Delay(distance*30);
  	 }
  	 else 
  		 HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);  // BUZZ LOW
  	 
  	 ReRunMe(1);
  }
  ////////////////////////////////for the ultrasonic parking sensor app/////////////////////////////
  /* USER CODE END 0 */
  
  /**
    * @brief  The application entry point.
    * @retval int
    */
  int main(void)
  {
    /* USER CODE BEGIN 1 */
  	queueINIT(&ReadyQueue);
  	queueINIT(&DelayedQueue);
  
  	QueTask(&Read_Task, 1); 
  	QueTask(&BUZZ_Task, 2);
  
    /* USER CODE END 1 */
  
    /* MCU Configuration--------------------------------------------------------*/
  
    /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    HAL_Init();
  
    /* USER CODE BEGIN Init */
  
    /* USER CODE END Init */
  
    /* Configure the system clock */
    SystemClock_Config();
  
    /* USER CODE BEGIN SysInit */
  
    /* USER CODE END SysInit */
  
    /* Initialize all configured peripherals */
    MX_GPIO_Init();
    MX_USART2_UART_Init();
    MX_USART1_UART_Init();
    /* USER CODE BEGIN 2 */
  
    /* USER CODE END 2 */
  
    /* Infinite loop */
    /* USER CODE BEGIN WHILE */
    while (1)
    {
      /* USER CODE END WHILE */
  
      /* USER CODE BEGIN 3 */
  		Dispatch(); 
    }
    /* USER CODE END 3 */
  }
  
  /**
    * @brief System Clock Configuration
    * @retval None
    */
  void SystemClock_Config(void)
  {
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};
  
    /** Configure LSE Drive Capability
    */
    HAL_PWR_EnableBkUpAccess();
    __HAL_RCC_LSEDRIVE_CONFIG(RCC_LSEDRIVE_LOW);
    /** Initializes the RCC Oscillators according to the specified parameters
    * in the RCC_OscInitTypeDef structure.
    */
    RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_LSE|RCC_OSCILLATORTYPE_MSI;
    RCC_OscInitStruct.LSEState = RCC_LSE_ON;
    RCC_OscInitStruct.MSIState = RCC_MSI_ON;
    RCC_OscInitStruct.MSICalibrationValue = 0;
    RCC_OscInitStruct.MSIClockRange = RCC_MSIRANGE_6;
    RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_MSI;
    RCC_OscInitStruct.PLL.PLLM = 1;
    RCC_OscInitStruct.PLL.PLLN = 40;
    RCC_OscInitStruct.PLL.PLLP = RCC_PLLP_DIV7;
    RCC_OscInitStruct.PLL.PLLQ = RCC_PLLQ_DIV2;
    RCC_OscInitStruct.PLL.PLLR = RCC_PLLR_DIV2;
    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    {
      Error_Handler();
    }
    /** Initializes the CPU, AHB and APB buses clocks
    */
    RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                                |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
  
    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_4) != HAL_OK)
    {
      Error_Handler();
    }
    PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_USART2;
    PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK2;
    PeriphClkInit.Usart2ClockSelection = RCC_USART2CLKSOURCE_PCLK1;
    if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
    {
      Error_Handler();
    }
    /** Configure the main internal regulator output voltage
    */
    if (HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1) != HAL_OK)
    {
      Error_Handler();
    }
    /** Enable MSI Auto calibration
    */
    HAL_RCCEx_EnableMSIPLLMode();
  }
  
  /**
    * @brief USART1 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_USART1_UART_Init(void)
  {
  
    /* USER CODE BEGIN USART1_Init 0 */
  
    /* USER CODE END USART1_Init 0 */
  
    /* USER CODE BEGIN USART1_Init 1 */
  
    /* USER CODE END USART1_Init 1 */
    huart1.Instance = USART1;
    huart1.Init.BaudRate = 115200;
    huart1.Init.WordLength = UART_WORDLENGTH_8B;
    huart1.Init.StopBits = UART_STOPBITS_1;
    huart1.Init.Parity = UART_PARITY_NONE;
    huart1.Init.Mode = UART_MODE_TX_RX;
    huart1.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    huart1.Init.OverSampling = UART_OVERSAMPLING_16;
    huart1.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
    huart1.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
    if (HAL_UART_Init(&huart1) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN USART1_Init 2 */
  
    /* USER CODE END USART1_Init 2 */
  
  }
  
  /**
    * @brief USART2 Initialization Function
    * @param None
    * @retval None
    */
  static void MX_USART2_UART_Init(void)
  {
  
    /* USER CODE BEGIN USART2_Init 0 */
  
    /* USER CODE END USART2_Init 0 */
  
    /* USER CODE BEGIN USART2_Init 1 */
  
    /* USER CODE END USART2_Init 1 */
    huart2.Instance = USART2;
    huart2.Init.BaudRate = 115200;
    huart2.Init.WordLength = UART_WORDLENGTH_8B;
    huart2.Init.StopBits = UART_STOPBITS_1;
    huart2.Init.Parity = UART_PARITY_NONE;
    huart2.Init.Mode = UART_MODE_TX_RX;
    huart2.Init.HwFlowCtl = UART_HWCONTROL_NONE;
    huart2.Init.OverSampling = UART_OVERSAMPLING_16;
    huart2.Init.OneBitSampling = UART_ONE_BIT_SAMPLE_DISABLE;
    huart2.AdvancedInit.AdvFeatureInit = UART_ADVFEATURE_NO_INIT;
    if (HAL_UART_Init(&huart2) != HAL_OK)
    {
      Error_Handler();
    }
    /* USER CODE BEGIN USART2_Init 2 */
  
    /* USER CODE END USART2_Init 2 */
  
  }
  
  /**
    * @brief GPIO Initialization Function
    * @param None
    * @retval None
    */
  static void MX_GPIO_Init(void)
  {
    GPIO_InitTypeDef GPIO_InitStruct = {0};
  
    /* GPIO Ports Clock Enable */
    __HAL_RCC_GPIOC_CLK_ENABLE();
    __HAL_RCC_GPIOA_CLK_ENABLE();
    __HAL_RCC_GPIOB_CLK_ENABLE();
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOA, GPIO_PIN_1, GPIO_PIN_RESET);
  
    /*Configure GPIO pin Output Level */
    HAL_GPIO_WritePin(GPIOB, GPIO_PIN_3|GPIO_PIN_4, GPIO_PIN_RESET);
  
    /*Configure GPIO pin : PA1 */
    GPIO_InitStruct.Pin = GPIO_PIN_1;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  
    /*Configure GPIO pin : PA4 */
    GPIO_InitStruct.Pin = GPIO_PIN_4;
    GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
  
    /*Configure GPIO pins : PB3 PB4 */
    GPIO_InitStruct.Pin = GPIO_PIN_3|GPIO_PIN_4;
    GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
    GPIO_InitStruct.Pull = GPIO_NOPULL;
    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
    HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
  
  }
  
  /* USER CODE BEGIN 4 */
  
  /* USER CODE END 4 */
  
  /**
    * @brief  This function is executed in case of error occurrence.
    * @retval None
    */
  void Error_Handler(void)
  {
    /* USER CODE BEGIN Error_Handler_Debug */
    /* User can add his own implementation to report the HAL error return state */
    __disable_irq();
    while (1)
    {
    }
    /* USER CODE END Error_Handler_Debug */
  }
  
  #ifdef  USE_FULL_ASSERT
  /**
    * @brief  Reports the name of the source file and the source line number
    *         where the assert_param error has occurred.
    * @param  file: pointer to the source file name
    * @param  line: assert_param error line source number
    * @retval None
    */
  void assert_failed(uint8_t *file, uint32_t line)
  {
    /* USER CODE BEGIN 6 */
    /* User can add his own implementation to report the file name and line number,
       ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    /* USER CODE END 6 */
  }
  #endif /* USE_FULL_ASSERT */
  
  /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
  