/*
 * FreeRTOS Kernel V10.3.1
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * 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
 *
 * 1 tab == 4 spaces!
 */

/*-----------------------------------------------------------
 * Implementation of functions defined in portable.h for the Philips ARM7 port.
 *----------------------------------------------------------*/

/*
	Changes from V3.2.2

	+ Bug fix - The prescale value for the timer setup is now written to T0PR
	  instead of T0PC.  This bug would have had no effect unless a prescale
	  value was actually used.
*/

/* Standard includes. */
#include <stdlib.h>
#include <intrinsics.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Constants required to setup the tick ISR. */
#define portENABLE_TIMER			( ( uint8_t ) 0x01 )
#define portPRESCALE_VALUE			0x00
#define portINTERRUPT_ON_MATCH		( ( uint32_t ) 0x01 )
#define portRESET_COUNT_ON_MATCH	( ( uint32_t ) 0x02 )

/* Constants required to setup the initial stack. */
#define portINITIAL_SPSR				( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
#define portTHUMB_MODE_BIT				( ( StackType_t ) 0x20 )
#define portINSTRUCTION_SIZE			( ( StackType_t ) 4 )

/* Constants required to setup the PIT. */
#define portPIT_CLOCK_DIVISOR			( ( uint32_t ) 16 )
#define portPIT_COUNTER_VALUE			( ( ( configCPU_CLOCK_HZ / portPIT_CLOCK_DIVISOR ) / 1000UL ) * portTICK_PERIOD_MS )

/* Constants required to handle interrupts. */
#define portTIMER_MATCH_ISR_BIT		( ( uint8_t ) 0x01 )
#define portCLEAR_VIC_INTERRUPT		( ( uint32_t ) 0 )

/* Constants required to handle critical sections. */
#define portNO_CRITICAL_NESTING 		( ( uint32_t ) 0 )


#define portINT_LEVEL_SENSITIVE  0
#define portPIT_ENABLE      	( ( uint16_t ) 0x1 << 24 )
#define portPIT_INT_ENABLE     	( ( uint16_t ) 0x1 << 25 )

/* Constants required to setup the VIC for the tick ISR. */
#define portTIMER_VIC_CHANNEL		( ( uint32_t ) 0x0004 )
#define portTIMER_VIC_CHANNEL_BIT	( ( uint32_t ) 0x0010 )
#define portTIMER_VIC_ENABLE		( ( uint32_t ) 0x0020 )

/*-----------------------------------------------------------*/

/* Setup the PIT to generate the tick interrupts. */
static void prvSetupTimerInterrupt( void );

/* ulCriticalNesting will get set to zero when the first task starts.  It
cannot be initialised to 0 as this will cause interrupts to be enabled
during the kernel initialisation process. */
uint32_t ulCriticalNesting = ( uint32_t ) 9999;

/*-----------------------------------------------------------*/

/*
 * Initialise the stack of a task to look exactly as if a call to
 * portSAVE_CONTEXT had been called.
 *
 * See header file for description.
 */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
{
StackType_t *pxOriginalTOS;

	pxOriginalTOS = pxTopOfStack;

	/* Setup the initial stack of the task.  The stack is set exactly as
	expected by the portRESTORE_CONTEXT() macro. */

	/* First on the stack is the return address - which in this case is the
	start of the task.  The offset is added to make the return address appear
	as it would within an IRQ ISR. */
	*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;		
	pxTopOfStack--;

	*pxTopOfStack = ( StackType_t ) 0xaaaaaaaa;	/* R14 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
	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--;	

	/* When the task starts is will expect to find the function parameter in
	R0. */
	*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
	pxTopOfStack--;

	/* The status register is set for system mode, with interrupts enabled. */
	*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;
	
	if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00UL )
	{
		/* We want the task to start in thumb mode. */
		*pxTopOfStack |= portTHUMB_MODE_BIT;
	}
	
	pxTopOfStack--;

	/* Interrupt flags cannot always be stored on the stack and will
	instead be stored in a variable, which is then saved as part of the
	tasks context. */
	*pxTopOfStack = portNO_CRITICAL_NESTING;

	return pxTopOfStack;	
}
/*-----------------------------------------------------------*/

BaseType_t xPortStartScheduler( void )
{
extern void vPortStartFirstTask( void );

	/* Start the timer that generates the tick ISR.  Interrupts are disabled
	here already. */
	prvSetupTimerInterrupt();

	/* Start the first task. */
	vPortStartFirstTask();	

	/* Should not get here! */
	return 0;
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
	/* It is unlikely that the ARM port will require this function as there
	is nothing to return to.  */
}
/*-----------------------------------------------------------*/

#if configUSE_PREEMPTION == 0

	/* The cooperative scheduler requires a normal IRQ service routine to
	simply increment the system tick. */
	static __arm __irq void vPortNonPreemptiveTick( void );
	static __arm __irq void vPortNonPreemptiveTick( void )
	{
		/* Increment the tick count - which may wake some tasks but as the
		preemptive scheduler is not being used any woken task is not given
		processor time no matter what its priority. */
		xTaskIncrementTick();
		
		/* Ready for the next interrupt. */
		T0IR = portTIMER_MATCH_ISR_BIT;
		VICVectAddr = portCLEAR_VIC_INTERRUPT;
	}

#else

	/* This function is called from an asm wrapper, so does not require the __irq
	keyword. */
	void vPortPreemptiveTick( void );
	void vPortPreemptiveTick( void )
	{
		/* Increment the tick counter. */
		if( xTaskIncrementTick() != pdFALSE )
		{	
			/* The new tick value might unblock a task.  Ensure the highest task that
			is ready to execute is the task that will execute when the tick ISR
			exits. */
			vTaskSwitchContext();
		}
	
		/* Ready for the next interrupt. */
		T0IR = portTIMER_MATCH_ISR_BIT;
		VICVectAddr = portCLEAR_VIC_INTERRUPT;
	}

#endif

/*-----------------------------------------------------------*/

static void prvSetupTimerInterrupt( void )
{
uint32_t ulCompareMatch;

	/* A 1ms tick does not require the use of the timer prescale.  This is
	defaulted to zero but can be used if necessary. */
	T0PR = portPRESCALE_VALUE;

	/* Calculate the match value required for our wanted tick rate. */
	ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ;

	/* Protect against divide by zero.  Using an if() statement still results
	in a warning - hence the #if. */
	#if portPRESCALE_VALUE != 0
	{
		ulCompareMatch /= ( portPRESCALE_VALUE + 1 );
	}
	#endif

	T0MR0 = ulCompareMatch;

	/* Generate tick with timer 0 compare match. */
	T0MCR = portRESET_COUNT_ON_MATCH | portINTERRUPT_ON_MATCH;

	/* Setup the VIC for the timer. */
	VICIntSelect &= ~( portTIMER_VIC_CHANNEL_BIT );
	VICIntEnable |= portTIMER_VIC_CHANNEL_BIT;
	
	/* The ISR installed depends on whether the preemptive or cooperative
	scheduler is being used. */
	#if configUSE_PREEMPTION == 1
	{	
		extern void ( vPortPreemptiveTickEntry )( void );

		VICVectAddr0 = ( uint32_t ) vPortPreemptiveTickEntry;
	}
	#else
	{
		extern void ( vNonPreemptiveTick )( void );

		VICVectAddr0 = ( int32_t ) vPortNonPreemptiveTick;
	}
	#endif

	VICVectCntl0 = portTIMER_VIC_CHANNEL | portTIMER_VIC_ENABLE;

	/* Start the timer - interrupts are disabled when this function is called
	so it is okay to do this here. */
	T0TCR = portENABLE_TIMER;
}
/*-----------------------------------------------------------*/

void vPortEnterCritical( void )
{
	/* Disable interrupts first! */
	__disable_interrupt();

	/* 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++;
}
/*-----------------------------------------------------------*/

void vPortExitCritical( void )
{
	if( ulCriticalNesting > portNO_CRITICAL_NESTING )
	{
		/* Decrement the nesting count as we are leaving a critical section. */
		ulCriticalNesting--;

		/* If the nesting level has reached zero then interrupts should be
		re-enabled. */
		if( ulCriticalNesting == portNO_CRITICAL_NESTING )
		{
			__enable_interrupt();
		}
	}
}
/*-----------------------------------------------------------*/