#ifndef __PBORT_H //if __PBORT_H is not defined previously then include all this until the #endif
#define __PBORT_H

#include <inttypes.h>

/* maximum number of spawned tasks allowed - determines size of arrays */
/* Do not change without recompiling pbort.c!!!  (Can this be moved to sched.c?) */
#define NUM_OF_TASKS			10      

/* Command and return values used by the scheduler */
#define I_OK					1
#define I_ERROR					-1
#define SBS_ON					100
#define SBS_OFF					101

typedef void (*voidfnc_ptr)(void);
typedef int  (*intfnc_ptr)(void);

typedef char (*charfnc_ptr)(uint8_t);
typedef void *pointer;




/* Define the ProcessT type that is used by the scheduler */
typedef struct {charfnc_ptr     on_fptr;
                charfnc_ptr     cycle_fptr;
                charfnc_ptr     off_fptr;
				char 			pid;
				char 			fRealTime;
				uint16_t  		nPeriod;
				uint32_t 		nextReady;
				uint16_t  		missed;
				pointer			local;
				} processT;



/* Function prototypes for user functions defined in sched.c */

/* --- sbsSpawn() is used to instantiate instances of a module.
   --- Each spawning of a module is a unique instance of that module.
   --- init_fp is the name of the module's xxx_init() routine.
   --- freq is the frequency at which the module is executed.
   --- fRealTime is a flag.
   --- a procID is returned as a handle to the module.
   --- */
char sbsSpawn(charfnc_ptr init_fp, uint16_t freq, char fRealTime);

/* --- sbsControl() is used to turn spawned modules on and off.
   --- procID identifies the modules
   --- cmd is either "SBS_ON" or "SBS_OFF"
   --- return value is either I_OK or I_ERROR
   --- */
int sbsControl(char procID, char cmd);

/* --- sched_init() initializes the scheduler.
   --- it is called in main() before any modules are spawned.
   --- freq is the heartbeat frequency in Hz and must be greater than or equal to 
   --- the frequency of the fastest module spawned.
   --- */ 
uint16_t sched_init(uint16_t freq);

/* --- sched() is called in a while() loop */
void sched(void);



/* These are internal variables used by the scheduler and should not be referenced by the user. */
extern uint32_t 	timerTicksG;
extern uint8_t 		onTasksG;
extern uint8_t 		readyHeadG;
extern uint8_t 		readyTailG;
extern uint8_t 		onQueueG[NUM_OF_TASKS];		/* list of task indices (in the spawnQueue) */
extern processT    	spawnQueueG[NUM_OF_TASKS];
extern uint8_t 		readyQueueG[NUM_OF_TASKS];	/* list of indices to the spawnQueue (not IDs) */
extern uint8_t		spawnTasksG;
extern uint16_t    	heartBeatFreqG;

#endif