FreeRTOS/Source/portable/GCC/ARM_CA53_64_BIT/port.c - third_party/github/FreeRTOS/FreeRTOS-Kernel - Git at Google

 /*
     FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
     All rights reserved

     VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

     This file is part of the FreeRTOS distribution.

     FreeRTOS is free software; you can redistribute it and/or modify it under
     the terms of the GNU General Public License (version 2) as published by the
     Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

     ***************************************************************************
     >>!   NOTE: The modification to the GPL is included to allow you to     !<<
     >>!   distribute a combined work that includes FreeRTOS without being   !<<
     >>!   obliged to provide the source code for proprietary components     !<<
     >>!   outside of the FreeRTOS kernel.                                   !<<
     ***************************************************************************

     FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
     WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
     FOR A PARTICULAR PURPOSE.  Full license text is available on the following
     link: http://www.freertos.org/a00114.html

     ***************************************************************************
      *                                                                       *
      *    FreeRTOS provides completely free yet professionally developed,    *
      *    robust, strictly quality controlled, supported, and cross          *
      *    platform software that is more than just the market leader, it     *
      *    is the industry's de facto standard.                               *
      *                                                                       *
      *    Help yourself get started quickly while simultaneously helping     *
      *    to support the FreeRTOS project by purchasing a FreeRTOS           *
      *    tutorial book, reference manual, or both:                          *
      *    http://www.FreeRTOS.org/Documentation                              *
      *                                                                       *
     ***************************************************************************

     http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
     the FAQ page "My application does not run, what could be wrong?".  Have you
     defined configASSERT()?

     http://www.FreeRTOS.org/support - In return for receiving this top quality
     embedded software for free we request you assist our global community by
     participating in the support forum.

     http://www.FreeRTOS.org/training - Investing in training allows your team to
     be as productive as possible as early as possible.  Now you can receive
     FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
     Ltd, and the world's leading authority on the world's leading RTOS.

     http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
     including FreeRTOS+Trace - an indispensable productivity tool, a DOS
     compatible FAT file system, and our tiny thread aware UDP/IP stack.

     http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
     Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

     http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
     Integrity Systems ltd. to sell under the OpenRTOS brand.  Low cost OpenRTOS
     licenses offer ticketed support, indemnification and commercial middleware.

     http://www.SafeRTOS.com - High Integrity Systems also provide a safety
     engineered and independently SIL3 certified version for use in safety and
     mission critical applications that require provable dependability.

     1 tab == 4 spaces!
 */

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

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

 #ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS
 	#error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined.  See 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.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
 #endif

 #ifndef configUNIQUE_INTERRUPT_PRIORITIES
 	#error configUNIQUE_INTERRUPT_PRIORITIES must be defined.  See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
 #endif

 #ifndef configSETUP_TICK_INTERRUPT
 	#error configSETUP_TICK_INTERRUPT() must be defined.  See 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.  See 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			( ( size_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 portEL3							( ( StackType_t ) 0x0c )
 #define portSP_ELx						( ( StackType_t ) 0x01 )
 #define portSP_EL0						( ( StackType_t ) 0x00 )

 /* At the time of writing, the BSP only supports EL3. */
 #define portINITIAL_PSTATE				( portEL3 | portSP_EL0 )

 /* 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			( 0x0C )

 /* The I bit in the DAIF bits. */
 #define portDAIF_I						( 0x80 )

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

 /* Hardware specifics used when sanity checking the configuration. */
 #define portINTERRUPT_PRIORITY_REGISTER_OFFSET		0x400UL
 #define portMAX_8_BIT_VALUE							( ( uint8_t ) 0xff )
 #define portBIT_0_SET								( ( uint8_t ) 0x01 )

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

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

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

 /* 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 uint64_t ullCriticalNesting = 9999ULL;

 /* Saved as part of the task context.  If ullPortTaskHasFPUContext is non-zero
 then floating point context must be saved and restored for the task. */
 uint64_t ullPortTaskHasFPUContext = pdFALSE;

 /* Set to 1 to pend a context switch from an ISR. */
 uint64_t ullPortYieldRequired = pdFALSE;

 /* Counts the interrupt nesting depth.  A context switch is only performed if
 if the nesting depth is 0. */
 uint64_t ullPortInterruptNesting = 0;

 /* Used in the ASM code. */
 __attribute__(( used )) const uint64_t ullICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS;
 __attribute__(( used )) const uint64_t ullICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS;
 __attribute__(( used )) const uint64_t ullICCPMR = portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS;
 __attribute__(( used )) const uint64_t ullMaxAPIPriorityMask = ( 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. */

 	/* First all the general purpose registers. */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x0101010101010101ULL;	/* R1 */
 	pxTopOfStack--;
 	*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x0303030303030303ULL;	/* R3 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x0202020202020202ULL;	/* R2 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x0505050505050505ULL;	/* R5 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x0404040404040404ULL;	/* R4 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x0707070707070707ULL;	/* R7 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x0606060606060606ULL;	/* R6 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x0909090909090909ULL;	/* R9 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x0808080808080808ULL;	/* R8 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x1111111111111111ULL;	/* R11 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x1010101010101010ULL;	/* R10 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x1313131313131313ULL;	/* R13 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x1212121212121212ULL;	/* R12 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x1515151515151515ULL;	/* R15 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x1414141414141414ULL;	/* R14 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x1717171717171717ULL;	/* R17 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x1616161616161616ULL;	/* R16 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x1919191919191919ULL;	/* R19 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x1818181818181818ULL;	/* R18 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x2121212121212121ULL;	/* R21 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x2020202020202020ULL;	/* R20 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x2323232323232323ULL;	/* R23 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x2222222222222222ULL;	/* R22 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x2525252525252525ULL;	/* R25 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x2424242424242424ULL;	/* R24 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x2727272727272727ULL;	/* R27 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x2626262626262626ULL;	/* R26 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x2929292929292929ULL;	/* R29 */
 	pxTopOfStack--;
 	*pxTopOfStack = 0x2828282828282828ULL;	/* R28 */
 	pxTopOfStack--;
 	*pxTopOfStack = ( StackType_t ) 0x00;	/* XZR - has no effect, used so there are an even number of registers. */
 	pxTopOfStack--;
 	*pxTopOfStack = ( StackType_t ) 0x00;	/* R30 - procedure call link register. */
 	pxTopOfStack--;

 	*pxTopOfStack = portINITIAL_PSTATE;
 	pxTopOfStack--;

 	*pxTopOfStack = ( StackType_t ) pxCode; /* Exception return address. */
 	pxTopOfStack--;

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

 	/* 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 = portNO_FLOATING_POINT_CONTEXT;

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

 BaseType_t xPortStartScheduler( void )
 {
 uint32_t ulAPSR;

 	#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;
 		}

 		/* 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 /* conifgASSERT_DEFINED */


 	/* At the time of writing, the BSP only supports EL3. */
 	__asm volatile ( "MRS %0, CurrentEL" : "=r" ( ulAPSR ) );
 	ulAPSR &= portAPSR_MODE_BITS_MASK;
 	configASSERT( ulAPSR == portEL3 );

 	if( ulAPSR == portEL3 )
 	{
 		/* 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 a 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. */
 			portDISABLE_INTERRUPTS();

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

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

 	return 0;
 }
 /*-----------------------------------------------------------*/

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

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

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

 	/* 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( ullCriticalNesting == 1ULL )
 	{
 		configASSERT( ullPortInterruptNesting == 0 );
 	}
 }
 /*-----------------------------------------------------------*/

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

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

 void FreeRTOS_Tick_Handler( void )
 {
 	/* Must be the lowest possible priority. */
 	configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER == ( uint32_t ) ( portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );

 	/* Interrupts should not be enabled before this point. */
 	#if( configASSERT_DEFINED == 1 )
 	{
 		uint32_t ulMaskBits;

 		__asm volatile( "mrs %0, daif" : "=r"( ulMaskBits ) );
 		configASSERT( ( ulMaskBits & portDAIF_I ) != 0 );
 	}
 	#endif /* configASSERT_DEFINED */

 	/* 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. */
 	portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
 	__asm volatile (	"dsb sy		\n"
 						"isb sy		\n" );

 	/* Ok to enable interrupts after the interrupt source has been cleared. */
 	configCLEAR_TICK_INTERRUPT();
 	portENABLE_INTERRUPTS();

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

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

 void vPortTaskUsesFPU( void )
 {
 	/* 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). */
 	ullPortTaskHasFPUContext = pdTRUE;

 	/* Consider initialising the FPSR here - but probably not necessary in
 	AArch64. */
 }
 /*-----------------------------------------------------------*/

 void vPortClearInterruptMask( UBaseType_t uxNewMaskValue )
 {
 	if( uxNewMaskValue == pdFALSE )
 	{
 		portCLEAR_INTERRUPT_MASK();
 	}
 }
 /*-----------------------------------------------------------*/

 UBaseType_t uxPortSetInterruptMask( void )
 {
 uint32_t ulReturn;

 	/* Interrupt in the CPU must be turned off while the ICCPMR is being
 	updated. */
 	portDISABLE_INTERRUPTS();
 	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 sy		\n"
 							"isb sy		\n" );
 	}
 	portENABLE_INTERRUPTS();

 	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).  Writting 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 */
 /*-----------------------------------------------------------*/
	/*
	FreeRTOS V9.0.0rc2 - Copyright (C) 2016 Real Time Engineers Ltd.
	All rights reserved

	VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

	This file is part of the FreeRTOS distribution.

	FreeRTOS is free software; you can redistribute it and/or modify it under
	the terms of the GNU General Public License (version 2) as published by the
	Free Software Foundation >>>> AND MODIFIED BY <<<< the FreeRTOS exception.

	***************************************************************************
	>>! NOTE: The modification to the GPL is included to allow you to !<<
	>>! distribute a combined work that includes FreeRTOS without being !<<
	>>! obliged to provide the source code for proprietary components !<<
	>>! outside of the FreeRTOS kernel. !<<
	***************************************************************************

	FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
	WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
	FOR A PARTICULAR PURPOSE. Full license text is available on the following
	link: http://www.freertos.org/a00114.html

	***************************************************************************
	* *
	* FreeRTOS provides completely free yet professionally developed, *
	* robust, strictly quality controlled, supported, and cross *
	* platform software that is more than just the market leader, it *
	* is the industry's de facto standard. *
	* *
	* Help yourself get started quickly while simultaneously helping *
	* to support the FreeRTOS project by purchasing a FreeRTOS *
	* tutorial book, reference manual, or both: *
	* http://www.FreeRTOS.org/Documentation *
	* *
	***************************************************************************

	http://www.FreeRTOS.org/FAQHelp.html - Having a problem? Start by reading
	the FAQ page "My application does not run, what could be wrong?". Have you
	defined configASSERT()?

	http://www.FreeRTOS.org/support - In return for receiving this top quality
	embedded software for free we request you assist our global community by
	participating in the support forum.

	http://www.FreeRTOS.org/training - Investing in training allows your team to
	be as productive as possible as early as possible. Now you can receive
	FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
	Ltd, and the world's leading authority on the world's leading RTOS.

	http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
	including FreeRTOS+Trace - an indispensable productivity tool, a DOS
	compatible FAT file system, and our tiny thread aware UDP/IP stack.

	http://www.FreeRTOS.org/labs - Where new FreeRTOS products go to incubate.
	Come and try FreeRTOS+TCP, our new open source TCP/IP stack for FreeRTOS.

	http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
	Integrity Systems ltd. to sell under the OpenRTOS brand. Low cost OpenRTOS
	licenses offer ticketed support, indemnification and commercial middleware.

	http://www.SafeRTOS.com - High Integrity Systems also provide a safety
	engineered and independently SIL3 certified version for use in safety and
	mission critical applications that require provable dependability.

	1 tab == 4 spaces!
	*/

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

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

	#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS
	#error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined. See 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. See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
	#endif

	#ifndef configUNIQUE_INTERRUPT_PRIORITIES
	#error configUNIQUE_INTERRUPT_PRIORITIES must be defined. See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
	#endif

	#ifndef configSETUP_TICK_INTERRUPT
	#error configSETUP_TICK_INTERRUPT() must be defined. See 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. See 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 ( ( size_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 portEL3 ( ( StackType_t ) 0x0c )
	#define portSP_ELx ( ( StackType_t ) 0x01 )
	#define portSP_EL0 ( ( StackType_t ) 0x00 )

	/* At the time of writing, the BSP only supports EL3. */
	#define portINITIAL_PSTATE ( portEL3 \| portSP_EL0 )

	/* 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 ( 0x0C )

	/* The I bit in the DAIF bits. */
	#define portDAIF_I ( 0x80 )

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

	/* Hardware specifics used when sanity checking the configuration. */
	#define portINTERRUPT_PRIORITY_REGISTER_OFFSET 0x400UL
	#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )
	#define portBIT_0_SET ( ( uint8_t ) 0x01 )

	/-----------------------------------------------------------/

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

	/-----------------------------------------------------------/

	/* 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 uint64_t ullCriticalNesting = 9999ULL;

	/* Saved as part of the task context. If ullPortTaskHasFPUContext is non-zero
	then floating point context must be saved and restored for the task. */
	uint64_t ullPortTaskHasFPUContext = pdFALSE;

	/* Set to 1 to pend a context switch from an ISR. */
	uint64_t ullPortYieldRequired = pdFALSE;

	/* Counts the interrupt nesting depth. A context switch is only performed if
	if the nesting depth is 0. */
	uint64_t ullPortInterruptNesting = 0;

	/* Used in the ASM code. */
	__attribute__(( used )) const uint64_t ullICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS;
	__attribute__(( used )) const uint64_t ullICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS;
	__attribute__(( used )) const uint64_t ullICCPMR = portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS;
	__attribute__(( used )) const uint64_t ullMaxAPIPriorityMask = ( 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. */

	/* First all the general purpose registers. */
	pxTopOfStack--;
	pxTopOfStack = 0x0101010101010101ULL; / R1 */
	pxTopOfStack--;
	pxTopOfStack = ( StackType_t ) pvParameters; / R0 */
	pxTopOfStack--;
	pxTopOfStack = 0x0303030303030303ULL; / R3 */
	pxTopOfStack--;
	pxTopOfStack = 0x0202020202020202ULL; / R2 */
	pxTopOfStack--;
	pxTopOfStack = 0x0505050505050505ULL; / R5 */
	pxTopOfStack--;
	pxTopOfStack = 0x0404040404040404ULL; / R4 */
	pxTopOfStack--;
	pxTopOfStack = 0x0707070707070707ULL; / R7 */
	pxTopOfStack--;
	pxTopOfStack = 0x0606060606060606ULL; / R6 */
	pxTopOfStack--;
	pxTopOfStack = 0x0909090909090909ULL; / R9 */
	pxTopOfStack--;
	pxTopOfStack = 0x0808080808080808ULL; / R8 */
	pxTopOfStack--;
	pxTopOfStack = 0x1111111111111111ULL; / R11 */
	pxTopOfStack--;
	pxTopOfStack = 0x1010101010101010ULL; / R10 */
	pxTopOfStack--;
	pxTopOfStack = 0x1313131313131313ULL; / R13 */
	pxTopOfStack--;
	pxTopOfStack = 0x1212121212121212ULL; / R12 */
	pxTopOfStack--;
	pxTopOfStack = 0x1515151515151515ULL; / R15 */
	pxTopOfStack--;
	pxTopOfStack = 0x1414141414141414ULL; / R14 */
	pxTopOfStack--;
	pxTopOfStack = 0x1717171717171717ULL; / R17 */
	pxTopOfStack--;
	pxTopOfStack = 0x1616161616161616ULL; / R16 */
	pxTopOfStack--;
	pxTopOfStack = 0x1919191919191919ULL; / R19 */
	pxTopOfStack--;
	pxTopOfStack = 0x1818181818181818ULL; / R18 */
	pxTopOfStack--;
	pxTopOfStack = 0x2121212121212121ULL; / R21 */
	pxTopOfStack--;
	pxTopOfStack = 0x2020202020202020ULL; / R20 */
	pxTopOfStack--;
	pxTopOfStack = 0x2323232323232323ULL; / R23 */
	pxTopOfStack--;
	pxTopOfStack = 0x2222222222222222ULL; / R22 */
	pxTopOfStack--;
	pxTopOfStack = 0x2525252525252525ULL; / R25 */
	pxTopOfStack--;
	pxTopOfStack = 0x2424242424242424ULL; / R24 */
	pxTopOfStack--;
	pxTopOfStack = 0x2727272727272727ULL; / R27 */
	pxTopOfStack--;
	pxTopOfStack = 0x2626262626262626ULL; / R26 */
	pxTopOfStack--;
	pxTopOfStack = 0x2929292929292929ULL; / R29 */
	pxTopOfStack--;
	pxTopOfStack = 0x2828282828282828ULL; / R28 */
	pxTopOfStack--;
	pxTopOfStack = ( StackType_t ) 0x00; / XZR - has no effect, used so there are an even number of registers. */
	pxTopOfStack--;
	pxTopOfStack = ( StackType_t ) 0x00; / R30 - procedure call link register. */
	pxTopOfStack--;

	*pxTopOfStack = portINITIAL_PSTATE;
	pxTopOfStack--;

	pxTopOfStack = ( StackType_t ) pxCode; / Exception return address. */
	pxTopOfStack--;

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

	/* 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 = portNO_FLOATING_POINT_CONTEXT;

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

	BaseType_t xPortStartScheduler( void )
	{
	uint32_t ulAPSR;

	#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;
	}

	/* 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 /* conifgASSERT_DEFINED */


	/* At the time of writing, the BSP only supports EL3. */
	__asm volatile ( "MRS %0, CurrentEL" : "=r" ( ulAPSR ) );
	ulAPSR &= portAPSR_MODE_BITS_MASK;
	configASSERT( ulAPSR == portEL3 );

	if( ulAPSR == portEL3 )
	{
	/* 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 a 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. */
	portDISABLE_INTERRUPTS();

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

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

	return 0;
	}
	/-----------------------------------------------------------/

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

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

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

	/* 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( ullCriticalNesting == 1ULL )
	{
	configASSERT( ullPortInterruptNesting == 0 );
	}
	}
	/-----------------------------------------------------------/

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

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

	void FreeRTOS_Tick_Handler( void )
	{
	/* Must be the lowest possible priority. */
	configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER == ( uint32_t ) ( portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );

	/* Interrupts should not be enabled before this point. */
	#if( configASSERT_DEFINED == 1 )
	{
	uint32_t ulMaskBits;

	__asm volatile( "mrs %0, daif" : "=r"( ulMaskBits ) );
	configASSERT( ( ulMaskBits & portDAIF_I ) != 0 );
	}
	#endif /* configASSERT_DEFINED */

	/* 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. */
	portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
	__asm volatile ( "dsb sy \n"
	"isb sy \n" );

	/* Ok to enable interrupts after the interrupt source has been cleared. */
	configCLEAR_TICK_INTERRUPT();
	portENABLE_INTERRUPTS();

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

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

	void vPortTaskUsesFPU( void )
	{
	/* 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). */
	ullPortTaskHasFPUContext = pdTRUE;

	/* Consider initialising the FPSR here - but probably not necessary in
	AArch64. */
	}
	/-----------------------------------------------------------/

	void vPortClearInterruptMask( UBaseType_t uxNewMaskValue )
	{
	if( uxNewMaskValue == pdFALSE )
	{
	portCLEAR_INTERRUPT_MASK();
	}
	}
	/-----------------------------------------------------------/

	UBaseType_t uxPortSetInterruptMask( void )
	{
	uint32_t ulReturn;

	/* Interrupt in the CPU must be turned off while the ICCPMR is being
	updated. */
	portDISABLE_INTERRUPTS();
	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 sy \n"
	"isb sy \n" );
	}
	portENABLE_INTERRUPTS();

	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). Writting 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 */
	/-----------------------------------------------------------/