#define Background_Task_PRIO    ( tskIDLE_PRIORITY  + 10 )
#define Background_Task_STACK   ( 512 )
#define Demo_Task_PRIO          ( tskIDLE_PRIORITY  + 9 )
#define Demo_Task_STACK         ( 3048 )
#define Demo_Task_PRIO2          ( tskIDLE_PRIORITY  + 8 )
#define Demo_Task_STACK2         ( 512 )

xTaskHandle                   Task_Handle;
xTaskHandle                   Demo_Handle;
xTaskHandle                   Demo_Handle2;

int main(void){ 
 STM_EVAL_PBInit(BUTTON_USER, BUTTON_MODE_GPIO); 
STM_EVAL_LEDInit(LED3);
STM_EVAL_LEDInit(LED4);

    TIM_Config();
    EnableTimerInterrupt();
    IOE_Config();
Demo_GyroConfig();
  Gyro_SimpleCalibration(Gyro1);
    
  /* Create demo task */
  xTaskCreate(Background_Task1,
              (signed char const*)"BK_GND",
              Background_Task_STACK,
              NULL,
              Background_Task_PRIO,
              &Task_Handle);
                            
  /* Start the FreeRTOS scheduler */
  vTaskStartScheduler();
    

    while(1){
   }
}






void TIM_Config(void)
{
TMD_STM32F4_TIMER_Init(TIM1, 5000-1, 16800-1);          
TMD_STM32F4_TIMER_Start(TIM1);
TMD_STM32F4_TIMER_enableIT_Update(TIM1);
}

void EnableTimerInterrupt()
{
    
nvicStructure.NVIC_IRQChannel = TIM1_UP_TIM10_IRQn;
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_4); 
    nvicStructure.NVIC_IRQChannelPreemptionPriority = 15;
    nvicStructure.NVIC_IRQChannelSubPriority = 0;
    nvicStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&nvicStructure);
}


static void Background_Task1(void * pvParameters)
{  
  LowLevel_Init();
  GUI_Init();
    GUI_SelectLayer(1); 
  
  /* Launch Touchscreen Timer */
  TouchScreenTimer = xTimerCreate ("Timer", 50, pdTRUE, ( void * ) 1, vTimerCallback );
  
  if( TouchScreenTimer != NULL )
  {
    if( xTimerStart( TouchScreenTimer, 0 ) != pdPASS )
    {
      /* The timer could not be set into the Active state. */
    }
  }
    
    
    xTaskCreate(Background_Task2,
              (signed char const*)"BK_GND",
              Demo_Task_STACK2,
              NULL,
              Demo_Task_PRIO2,
              &Demo_Handle2);
    
    
  xTaskCreate(Background_Task3,
              (signed char const*)"BK_GND",
              Demo_Task_STACK,
              NULL,
              Demo_Task_PRIO,
              &Demo_Handle);

    CreateTestGuiBig();
    
      while(1) { GUI_Delay(10);
        }
}

static void Background_Task2(void * pvParameters)
{
    
  while(1) { 
        if((Graphflag==1)||(Graphflag==2)){
                GRAPH_DATA_YT_AddValue(hData1, 60*ValLED3);
        }
    vTaskDelay(1);
        }
}



static void Background_Task3(void * pvParameters)
{
  while(1) { 
        Demo_GyroReadAngRate(Buffer1);

  Buffer1[0] = (int8_t)Buffer1[0]- (int8_t)Gyro1[0];
  Buffer1[1] = (int8_t)Buffer1[1] - (int8_t)Gyro1[1];
  
  /* Update autoreload and capture compare registers value*/
  Xval1 = ABS((int8_t)(Buffer1[0]));
  Yval1 = ABS((int8_t)(Buffer1[1])); 
        
        if((IMUflag==1)||(IMUflag==2)){
                GRAPH_DATA_YT_AddValue(hData2, Xval1 );
                GRAPH_DATA_YT_AddValue(hData3, Yval1 );  }

    vTaskDelay(1);
        }
}