//Program: Pico_LLP_01c.ino //////////////////
//Programmer: P.Thounthong
//up-date: 26.09.2024

//set variables for MultiTasking Template, here 5 tasks
uint32_t previousMillis_1; 
uint32_t previousMillis_2; 
uint32_t previousMillis_3;
uint32_t previousMillis_4;  
uint32_t previousMillis_5; 

//here 1000 = 1 second
uint32_t task1Time = 1000; 
uint32_t task2Time = 1000; 
uint32_t task3Time = 1000;
uint32_t task4Time = 1000;
uint32_t task5Time = 10; 

uint32_t currentTime;
//END set variables for Pico_MultiTasking_Template

uint8_t  LED0 = 6; //GP6 at pin9
bool     flag_LED0;
uint32_t ZERO = 0; //all 32 bits are zero =000000=000b
uint32_t BIT6 = 0b1000000; //bit6 = 1
//pointers for GPIO Registers
uint32_t *gpioOUT     = (uint32_t *)(0xD0000010);
uint32_t *gpioOUT_SET = (uint32_t *)(0xD0000014);
uint32_t *gpioOUT_CLR = (uint32_t *)(0xD0000018);
uint32_t *gpioOUT_XOR = (uint32_t *)(0xD000001C);

void setup() {
  Serial1.begin(1152000);
  Serial1.println("Start Pi Pico....");
  pinMode(LED0, OUTPUT);
}

void loop() {
currentTime = millis();

//Task1 here
  if (currentTime - previousMillis_1 >= task1Time) {
    previousMillis_1 = currentTime;
    if(flag_LED0){
      *gpioOUT_SET = BIT6; //bit6 = 1
    }
    else{
      *gpioOUT_CLR = BIT6; //bit6 = 0
    }
    flag_LED0 = !flag_LED0; //Toggle flag
  }

//Task2 here
  if (currentTime - previousMillis_2 >= task2Time) {
    previousMillis_2 = currentTime;
    //work1
    //work2
  }

//Task3 here
  if (currentTime - previousMillis_3 >= task3Time) {
    previousMillis_3 = currentTime;
    //work1
    //work2
  }  

//Task4 here
  if (currentTime - previousMillis_4 >= task4Time) {
    previousMillis_4 = currentTime;
    //work1
    //work2
  }  

//Task5 here
  if (currentTime - previousMillis_5 >= task5Time) {
    previousMillis_5 = currentTime;
    //work1
    //work2
  }
} //END program ////////////////////////////