/*
 * FreeRTOS Kernel <DEVELOPMENT BRANCH>
 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * SPDX-License-Identifier: MIT
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/* Standard includes. */
#include <stdlib.h>
#include <string.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS
    #error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined.  Refer to Cortex-A equivalent: http: /*www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif

#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET
    #error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined.  Refer to Cortex-A equivalent: http: /*www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif

#ifndef configUNIQUE_INTERRUPT_PRIORITIES
    #error configUNIQUE_INTERRUPT_PRIORITIES must be defined.  Refer to Cortex-A equivalent: http: /*www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif

#ifndef configSETUP_TICK_INTERRUPT
    #error configSETUP_TICK_INTERRUPT() must be defined.  Refer to Cortex-A equivalent: http: /*www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif /* configSETUP_TICK_INTERRUPT */

#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY
    #error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined.  Refer to Cortex-A equivalent: http: /*www.FreeRTOS.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html */
#endif

#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0
    #error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0
#endif

#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES
    #error configMAX_API_CALL_INTERRUPT_PRIORITY must be less than or equal to configUNIQUE_INTERRUPT_PRIORITIES as the lower the numeric priority value the higher the logical interrupt priority
#endif

#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
    /* Check the configuration. */
    #if ( configMAX_PRIORITIES > 32 )
        #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32.  It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
    #endif
#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */

/* In case security extensions are implemented. */
#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
    #error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
#endif

/* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in
 * portmacro.h. */
#ifndef configCLEAR_TICK_INTERRUPT
    #define configCLEAR_TICK_INTERRUPT()
#endif

/* A critical section is exited when the critical section nesting count reaches
 * this value. */
#define portNO_CRITICAL_NESTING          ( ( uint32_t ) 0 )

/* In all GICs 255 can be written to the priority mask register to unmask all
 * (but the lowest) interrupt priority. */
#define portUNMASK_VALUE                 ( 0xFFUL )

/* Tasks are not created with a floating point context, but can be given a
 * floating point context after they have been created.  A variable is stored as
 * part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task
 * does not have an FPU context, or any other value if the task does have an FPU
 * context. */
#define portNO_FLOATING_POINT_CONTEXT    ( ( StackType_t ) 0 )

/* Constants required to setup the initial task context. */
#define portINITIAL_SPSR                 ( ( StackType_t ) 0x1f ) /* System mode, ARM mode, IRQ enabled FIQ enabled. */
#define portTHUMB_MODE_BIT               ( ( StackType_t ) 0x20 )
#define portINTERRUPT_ENABLE_BIT         ( 0x80UL )
#define portTHUMB_MODE_ADDRESS           ( 0x01UL )

/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary
 * point is zero. */
#define portBINARY_POINT_BITS            ( ( uint8_t ) 0x03 )

/* Masks all bits in the APSR other than the mode bits. */
#define portAPSR_MODE_BITS_MASK          ( 0x1F )

/* The value of the mode bits in the APSR when the CPU is executing in user
 * mode. */
#define portAPSR_USER_MODE               ( 0x10 )

/* The critical section macros only mask interrupts up to an application
 * determined priority level.  Sometimes it is necessary to turn interrupt off in
 * the CPU itself before modifying certain hardware registers. */
#define portCPU_IRQ_DISABLE()                  \
    __asm volatile ( "CPSID i" ::: "memory" ); \
    __asm volatile ( "DSB" );                  \
    __asm volatile ( "ISB" );

#define portCPU_IRQ_ENABLE()                   \
    __asm volatile ( "CPSIE i" ::: "memory" ); \
    __asm volatile ( "DSB" );                  \
    __asm volatile ( "ISB" );


/* Macro to unmask all interrupt priorities. */
#define portCLEAR_INTERRUPT_MASK()                            \
    {                                                         \
        portCPU_IRQ_DISABLE();                                \
        portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \
        __asm volatile ( "DSB       \n"                       \
                         "ISB       \n");                         \
        portCPU_IRQ_ENABLE();                                 \
    }

#define portINTERRUPT_PRIORITY_REGISTER_OFFSET    0x400UL
#define portMAX_8_BIT_VALUE                       ( ( uint8_t ) 0xff )
#define portBIT_0_SET                             ( ( uint8_t ) 0x01 )

/* Let the user override the pre-loading of the initial LR with the address of
 * prvTaskExitError() in case is messes up unwinding of the stack in the
 * debugger. */
#ifdef configTASK_RETURN_ADDRESS
    #define portTASK_RETURN_ADDRESS    configTASK_RETURN_ADDRESS
#else
    #define portTASK_RETURN_ADDRESS    prvTaskExitError
#endif

/*
 * The space on the stack required to hold the FPU registers.
 *
 * The ARM Cortex R5 processor implements the VFPv3-D16 FPU
 * architecture. This includes only 16 double-precision registers,
 * instead of 32 as is in VFPv3. The register bank can be viewed
 * either as sixteen 64-bit double-word registers (D0-D15) or
 * thirty-two 32-bit single-word registers (S0-S31), in both cases
 * the size of the bank remains the same. The FPU has also a 32-bit
 * status register.
 */
#define portFPU_REGISTER_WORDS    ( ( 16 * 2 ) + 1 )

/*-----------------------------------------------------------*/

/*
 * Starts the first task executing.  This function is necessarily written in
 * assembly code so is implemented in portASM.s.
 */
extern void vPortRestoreTaskContext( void );

/*
 * Used to catch tasks that attempt to return from their implementing function.
 */
static void prvTaskExitError( void );

/*
 * If the application provides an implementation of vApplicationIRQHandler(),
 * then it will get called directly without saving the FPU registers on
 * interrupt entry, and this weak implementation of
 * vApplicationFPUSafeIRQHandler() is just provided to remove linkage errors -
 * it should never actually get called so its implementation contains a
 * call to configASSERT() that will always fail.
 *
 * If the application provides its own implementation of
 * vApplicationFPUSafeIRQHandler() then the implementation of
 * vApplicationIRQHandler() provided in portASM.S will save the FPU registers
 * before calling it.
 *
 * Therefore, if the application writer wants FPU registers to be saved on
 * interrupt entry their IRQ handler must be called
 * vApplicationFPUSafeIRQHandler(), and if the application writer does not want
 * FPU registers to be saved on interrupt entry their IRQ handler must be
 * called vApplicationIRQHandler().
 */
void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR ) __attribute__((weak) );

/*-----------------------------------------------------------*/

/* A variable is used to keep track of the critical section nesting.  This
 * variable has to be stored as part of the task context and must be initialised to
 * a non zero value to ensure interrupts don't inadvertently become unmasked before
 * the scheduler starts.  As it is stored as part of the task context it will
 * automatically be set to 0 when the first task is started. */
volatile uint32_t ulCriticalNesting = 9999UL;

/* Saved as part of the task context.  If ulPortTaskHasFPUContext is non-zero then
 * a floating point context must be saved and restored for the task. */
uint32_t ulPortTaskHasFPUContext = pdFALSE;

/* Set to 1 to pend a context switch from an ISR. */
uint32_t ulPortYieldRequired = pdFALSE;

/* Counts the interrupt nesting depth.  A context switch is only performed if
 * if the nesting depth is 0. */
uint32_t ulPortInterruptNesting = 0UL;

/* Used in asm code. */
__attribute__( ( used ) ) const uint32_t ulICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS;
__attribute__( ( used ) ) const uint32_t ulICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS;
__attribute__( ( used ) ) const uint32_t ulICCPMR = portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS;
__attribute__( ( used ) ) const uint32_t ulMaxAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );

/*-----------------------------------------------------------*/

/*
 * See header file for description.
 */
StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
                                     TaskFunction_t pxCode,
                                     void * pvParameters )
{
    /* Setup the initial stack of the task.  The stack is set exactly as
     * expected by the portRESTORE_CONTEXT() macro.
     *
     * The fist real value on the stack is the status register, which is set for
     * system mode, with interrupts enabled.  A few NULLs are added first to ensure
     * GDB does not try decoding a non-existent return address. */
    *pxTopOfStack = ( StackType_t ) NULL;
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) NULL;
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) NULL;
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;

    if( ( ( uint32_t ) pxCode & portTHUMB_MODE_ADDRESS ) != 0x00UL )
    {
        /* The task will start in THUMB mode. */
        *pxTopOfStack |= portTHUMB_MODE_BIT;
    }

    pxTopOfStack--;

    /* Next the return address, which in this case is the start of the task. */
    *pxTopOfStack = ( StackType_t ) pxCode;
    pxTopOfStack--;

    /* Next all the registers other than the stack pointer. */
    *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* R14 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x12121212;              /* R12 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x11111111;              /* R11 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x10101010;              /* R10 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x09090909;              /* R9 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x08080808;              /* R8 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x07070707;              /* R7 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x06060606;              /* R6 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x05050505;              /* R5 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x04040404;              /* R4 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x03030303;              /* R3 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x02020202;              /* R2 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) 0x01010101;              /* R1 */
    pxTopOfStack--;
    *pxTopOfStack = ( StackType_t ) pvParameters;            /* R0 */
    pxTopOfStack--;

    /* The task will start with a critical nesting count of 0 as interrupts are
     * enabled. */
    *pxTopOfStack = portNO_CRITICAL_NESTING;

    #if( configUSE_TASK_FPU_SUPPORT == 1 )
    {
        /* The task will start without a floating point context.  A task that
        uses the floating point hardware must call vPortTaskUsesFPU() before
        executing any floating point instructions. */
        pxTopOfStack--;
        *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
    }
    #elif( configUSE_TASK_FPU_SUPPORT == 2 )
    {
        /* The task will start with a floating point context.  Leave enough
        space for the registers - and ensure they are initialized to 0. */
        pxTopOfStack -= portFPU_REGISTER_WORDS;
        memset( pxTopOfStack, 0x00, portFPU_REGISTER_WORDS * sizeof( StackType_t ) );

        pxTopOfStack--;
        *pxTopOfStack = pdTRUE;
        ulPortTaskHasFPUContext = pdTRUE;
    }
    #else
    {
        #error Invalid configUSE_TASK_FPU_SUPPORT setting - configUSE_TASK_FPU_SUPPORT must be set to 1, 2, or left undefined.
    }
    #endif /* configUSE_TASK_FPU_SUPPORT */

    return pxTopOfStack;
}
/*-----------------------------------------------------------*/

static void prvTaskExitError( void )
{
    /* A function that implements a task must not exit or attempt to return to
     * its caller as there is nothing to return to.  If a task wants to exit it
     * should instead call vTaskDelete( NULL ).
     *
     * Artificially force an assert() to be triggered if configASSERT() is
     * defined, then stop here so application writers can catch the error. */
    configASSERT( ulPortInterruptNesting == ~0UL );
    portDISABLE_INTERRUPTS();

    for( ; ; )
    {
    }
}
/*-----------------------------------------------------------*/

void vApplicationFPUSafeIRQHandler( uint32_t ulICCIAR )
{
    ( void ) ulICCIAR;
    configASSERT( ( volatile void * ) NULL );
}
/*-----------------------------------------------------------*/

BaseType_t xPortStartScheduler( void )
{
    uint32_t ulAPSR, ulCycles = 8; /* 8 bits per byte. */

    #if ( configASSERT_DEFINED == 1 )
        {
            volatile uint32_t ulOriginalPriority;
            volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET );
            volatile uint8_t ucMaxPriorityValue;

            /* Determine how many priority bits are implemented in the GIC.
             *
             * Save the interrupt priority value that is about to be clobbered. */
            ulOriginalPriority = *pucFirstUserPriorityRegister;

            /* Determine the number of priority bits available.  First write to
             * all possible bits. */
            *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;

            /* Read the value back to see how many bits stuck. */
            ucMaxPriorityValue = *pucFirstUserPriorityRegister;

            /* Shift to the least significant bits. */
            while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET )
            {
                ucMaxPriorityValue >>= ( uint8_t ) 0x01;

                /* If ulCycles reaches 0 then ucMaxPriorityValue must have been
                 * read as 0, indicating a misconfiguration. */
                ulCycles--;

                if( ulCycles == 0 )
                {
                    break;
                }
            }

            /* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read
             * value. */
            configASSERT( ucMaxPriorityValue == portLOWEST_INTERRUPT_PRIORITY );

            /* Restore the clobbered interrupt priority register to its original
             * value. */
            *pucFirstUserPriorityRegister = ulOriginalPriority;
        }
    #endif /* configASSERT_DEFINED */

    /* Only continue if the CPU is not in User mode.  The CPU must be in a
     * Privileged mode for the scheduler to start. */
    __asm volatile ( "MRS %0, APSR" : "=r" ( ulAPSR )::"memory" );
    ulAPSR &= portAPSR_MODE_BITS_MASK;
    configASSERT( ulAPSR != portAPSR_USER_MODE );

    if( ulAPSR != portAPSR_USER_MODE )
    {
        /* Only continue if the binary point value is set to its lowest possible
         * setting.  See the comments in vPortValidateInterruptPriority() below for
         * more information. */
        configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );

        if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE )
        {
            /* Interrupts are turned off in the CPU itself to ensure tick does
             * not execute  while the scheduler is being started.  Interrupts are
             * automatically turned back on in the CPU when the first task starts
             * executing. */
            portCPU_IRQ_DISABLE();

            /* Start the timer that generates the tick ISR. */
            configSETUP_TICK_INTERRUPT();

            /* Start the first task executing. */
            vPortRestoreTaskContext();
        }
    }

    /* Will only get here if vTaskStartScheduler() was called with the CPU in
     * a non-privileged mode or the binary point register was not set to its lowest
     * possible value.  prvTaskExitError() is referenced to prevent a compiler
     * warning about it being defined but not referenced in the case that the user
     * defines their own exit address. */
    ( void ) prvTaskExitError;
    return 0;
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
    /* Not implemented in ports where there is nothing to return to.
     * Artificially force an assert. */
    configASSERT( ulCriticalNesting == 1000UL );
}
/*-----------------------------------------------------------*/

void vPortEnterCritical( void )
{
    /* Mask interrupts up to the max syscall interrupt priority. */
    ulPortSetInterruptMask();

    /* Now interrupts are disabled ulCriticalNesting can be accessed
     * directly.  Increment ulCriticalNesting to keep a count of how many times
     * portENTER_CRITICAL() has been called. */
    ulCriticalNesting++;

    /* This is not the interrupt safe version of the enter critical function so
     * assert() if it is being called from an interrupt context.  Only API
     * functions that end in "FromISR" can be used in an interrupt.  Only assert if
     * the critical nesting count is 1 to protect against recursive calls if the
     * assert function also uses a critical section. */
    if( ulCriticalNesting == 1 )
    {
        configASSERT( ulPortInterruptNesting == 0 );
    }
}
/*-----------------------------------------------------------*/

void vPortExitCritical( void )
{
    if( ulCriticalNesting > portNO_CRITICAL_NESTING )
    {
        /* Decrement the nesting count as the critical section is being
         * exited. */
        ulCriticalNesting--;

        /* If the nesting level has reached zero then all interrupt
         * priorities must be re-enabled. */
        if( ulCriticalNesting == portNO_CRITICAL_NESTING )
        {
            /* Critical nesting has reached zero so all interrupt priorities
             * should be unmasked. */
            portCLEAR_INTERRUPT_MASK();
        }
    }
}
/*-----------------------------------------------------------*/

void FreeRTOS_Tick_Handler( void )
{
    /* Set interrupt mask before altering scheduler structures.   The tick
     * handler runs at the lowest priority, so interrupts cannot already be masked,
     * so there is no need to save and restore the current mask value.  It is
     * necessary to turn off interrupts in the CPU itself while the ICCPMR is being
     * updated. */
    portCPU_IRQ_DISABLE();
    portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
    __asm volatile ( "dsb       \n"
                     "isb       \n"::: "memory" );
    portCPU_IRQ_ENABLE();

    /* Increment the RTOS tick. */
    if( xTaskIncrementTick() != pdFALSE )
    {
        ulPortYieldRequired = pdTRUE;
    }

    /* Ensure all interrupt priorities are active again. */
    portCLEAR_INTERRUPT_MASK();
    configCLEAR_TICK_INTERRUPT();
}
/*-----------------------------------------------------------*/

#if( configUSE_TASK_FPU_SUPPORT != 2 )

    void vPortTaskUsesFPU( void )
    {
        uint32_t ulInitialFPSCR = 0;

        /* A task is registering the fact that it needs an FPU context.  Set the
         * FPU flag (which is saved as part of the task context). */
        ulPortTaskHasFPUContext = pdTRUE;

        /* Initialise the floating point status register. */
        __asm volatile ( "FMXR  FPSCR, %0" ::"r" ( ulInitialFPSCR ) : "memory" );
    }

#endif /* configUSE_TASK_FPU_SUPPORT */
/*-----------------------------------------------------------*/

void vPortClearInterruptMask( uint32_t ulNewMaskValue )
{
    if( ulNewMaskValue == pdFALSE )
    {
        portCLEAR_INTERRUPT_MASK();
    }
}
/*-----------------------------------------------------------*/

uint32_t ulPortSetInterruptMask( void )
{
    uint32_t ulReturn;

    /* Interrupt in the CPU must be turned off while the ICCPMR is being
     * updated. */
    portCPU_IRQ_DISABLE();

    if( portICCPMR_PRIORITY_MASK_REGISTER == ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) )
    {
        /* Interrupts were already masked. */
        ulReturn = pdTRUE;
    }
    else
    {
        ulReturn = pdFALSE;
        portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
        __asm volatile ( "dsb       \n"
                         "isb       \n"::: "memory" );
    }

    portCPU_IRQ_ENABLE();

    return ulReturn;
}
/*-----------------------------------------------------------*/

#if ( configASSERT_DEFINED == 1 )

    void vPortValidateInterruptPriority( void )
    {
        /* The following assertion will fail if a service routine (ISR) for
         * an interrupt that has been assigned a priority above
         * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
         * function.  ISR safe FreeRTOS API functions must *only* be called
         * from interrupts that have been assigned a priority at or below
         * configMAX_SYSCALL_INTERRUPT_PRIORITY.
         *
         * Numerically low interrupt priority numbers represent logically high
         * interrupt priorities, therefore the priority of the interrupt must
         * be set to a value equal to or numerically *higher* than
         * configMAX_SYSCALL_INTERRUPT_PRIORITY.
         *
         * FreeRTOS maintains separate thread and ISR API functions to ensure
         * interrupt entry is as fast and simple as possible. */

        configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );

        /* Priority grouping:  The interrupt controller (GIC) allows the bits
         * that define each interrupt's priority to be split between bits that
         * define the interrupt's pre-emption priority bits and bits that define
         * the interrupt's sub-priority.  For simplicity all bits must be defined
         * to be pre-emption priority bits.  The following assertion will fail if
         * this is not the case (if some bits represent a sub-priority).
         *
         * The priority grouping is configured by the GIC's binary point register
         * (ICCBPR).  Writing 0 to ICCBPR will ensure it is set to its lowest
         * possible value (which may be above 0). */
        configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
    }

#endif /* configASSERT_DEFINED */
/*-----------------------------------------------------------*/