/*
    FreeRTOS V9.0.0 - 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!
*/

/* FreeRTOS includes. */
#include "FreeRTOS.h"
#include "Task.h"

/* Xilinx includes. */
#include "xscugic.h"
#include "xttcps.h"

/* Settings to generate the tick from channel 0 of TTC 0. */
#define tickTTC_ID 			XPAR_PSU_TTC_0_DEVICE_ID
#define tickINTERRUPT_ID 	XPAR_XTTCPS_0_INTR

/* The timer used to generate the tick interrupt. */
static XTtcPs xTimerInstance;

/*
 * The application must provide a function that configures a peripheral to
 * create the FreeRTOS tick interrupt, then define configSETUP_TICK_INTERRUPT()
 * in FreeRTOSConfig.h to call the function.  This file contains a function
 * that is suitable for use on the Zynq SoC.
 */
void vConfigureTickInterrupt( void )
{
XTtcPs_Config *pxTimerConfig;
BaseType_t xStatus;
XScuGic_Config *pxGICConfig;
static XScuGic xInterruptController; 	/* Interrupt controller instance */
uint16_t usInterval;
uint8_t ucPrescale = 0;
const uint8_t ucRisingEdge = 3;

	/* This function is called with the IRQ interrupt disabled, and the IRQ
	interrupt should be left disabled.  It is enabled automatically when the
	scheduler is started. */

	/* Ensure XScuGic_CfgInitialize() has been called.  In this demo it has
	already been called from prvSetupHardware() in main(). */
	pxGICConfig = XScuGic_LookupConfig( XPAR_SCUGIC_SINGLE_DEVICE_ID );
	xStatus = XScuGic_CfgInitialize( &xInterruptController, pxGICConfig, pxGICConfig->CpuBaseAddress );
	configASSERT( xStatus == XST_SUCCESS );
	( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */

	/* The interrupt priority must be the lowest possible. */
	XScuGic_SetPriorityTriggerType( &xInterruptController, tickINTERRUPT_ID, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );

	/* Install the FreeRTOS tick handler. */
	xStatus = XScuGic_Connect( &xInterruptController, tickINTERRUPT_ID, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, NULL );
	configASSERT( xStatus == XST_SUCCESS );
	( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */

	/* Initialise the Triple Timer Counter (TTC) that is going to be used to
	generate the tick interrupt. */
	pxTimerConfig = XTtcPs_LookupConfig( tickTTC_ID );
	xStatus = XTtcPs_CfgInitialize( &xTimerInstance, pxTimerConfig, pxTimerConfig->BaseAddress );
	configASSERT( xStatus == XST_SUCCESS );
	( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */

	/* Configure the interval to be the require tick rate. */
	XTtcPs_CalcIntervalFromFreq( &xTimerInstance, configTICK_RATE_HZ, &usInterval, &ucPrescale );
	XTtcPs_SetInterval( &xTimerInstance, usInterval );
	XTtcPs_SetPrescaler( &xTimerInstance, ucPrescale );

	/* Interval mode used. */
	XTtcPs_SetOptions( &xTimerInstance, XTTCPS_OPTION_INTERVAL_MODE | XTTCPS_OPTION_WAVE_DISABLE );

	/* Start the timer. */
	XTtcPs_Start( &xTimerInstance );

	/* Enable the interrupt in the interrupt controller. */
	XScuGic_Enable( &xInterruptController, tickINTERRUPT_ID );

	/* Enable the interrupt in the timer itself. */
	XTtcPs_EnableInterrupts( &xTimerInstance, XTTCPS_IXR_INTERVAL_MASK );
}
/*-----------------------------------------------------------*/

void vClearTickInterrupt( void )
{
volatile uint32_t ulStatus;

	ulStatus = XTtcPs_GetInterruptStatus( &xTimerInstance );
	( void ) ulStatus;
}
/*-----------------------------------------------------------*/

void vApplicationIRQHandler( uint32_t ulICCIAR )
{
extern const XScuGic_Config XScuGic_ConfigTable[];
static const XScuGic_VectorTableEntry *pxVectorTable = XScuGic_ConfigTable[ XPAR_SCUGIC_SINGLE_DEVICE_ID ].HandlerTable;
uint32_t ulInterruptID;
const XScuGic_VectorTableEntry *pxVectorEntry;

	/* Re-enable interrupts. */
    __asm ( "cpsie i" );

	/* The ID of the interrupt is obtained by bitwise anding the ICCIAR value
	with 0x3FF. */
	ulInterruptID = ulICCIAR & 0x3FFUL;
	if( ulInterruptID < XSCUGIC_MAX_NUM_INTR_INPUTS )
	{
		/* Call the function installed in the array of installed handler
		functions. */
		pxVectorEntry = &( pxVectorTable[ ulInterruptID ] );
		pxVectorEntry->Handler( pxVectorEntry->CallBackRef );
	}
}