/*
    FreeRTOS V8.2.0rc1 - Copyright (C) 2014 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

    1 tab == 4 spaces!

    ***************************************************************************
     *                                                                       *
     *    Having a problem?  Start by reading the FAQ "My application does   *
     *    not run, what could be wrong?".  Have you defined configASSERT()?  *
     *                                                                       *
     *    http://www.FreeRTOS.org/FAQHelp.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                              *
     *                                                                       *
    ***************************************************************************

    ***************************************************************************
     *                                                                       *
     *   Investing in training allows your team to be as productive as       *
     *   possible as early as possible, lowering your overall development    *
     *   cost, and enabling you to bring a more robust product to market     *
     *   earlier than would otherwise be possible.  Richard Barry is both    *
     *   the architect and key author of FreeRTOS, and so also the world's   *
     *   leading authority on what is the world's most popular real time     *
     *   kernel for deeply embedded MCU designs.  Obtaining your training    *
     *   from Richard ensures your team will gain directly from his in-depth *
     *   product knowledge and years of usage experience.  Contact Real Time *
     *   Engineers Ltd to enquire about the FreeRTOS Masterclass, presented  *
     *   by Richard Barry:  http://www.FreeRTOS.org/contact
     *                                                                       *
    ***************************************************************************

    ***************************************************************************
     *                                                                       *
     *    You are receiving this top quality software for free.  Please play *
     *    fair and reciprocate by reporting any suspected issues and         *
     *    participating in the community forum:                              *
     *    http://www.FreeRTOS.org/support                                    *
     *                                                                       *
     *    Thank you!                                                         *
     *                                                                       *
    ***************************************************************************

    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
    license and Real Time Engineers Ltd. contact details.

    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 "xscutimer.h"
#include "xscugic.h"

#define XSCUTIMER_CLOCK_HZ ( XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ / 2UL )

static XScuTimer xTimer;

/*
 * 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 )
{
static XScuGic xInterruptController; 	/* Interrupt controller instance */
BaseType_t xStatus;
extern void FreeRTOS_Tick_Handler( void );
XScuTimer_Config *pxTimerConfig;
XScuGic_Config *pxGICConfig;
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 priority must be the lowest possible. */
	XScuGic_SetPriorityTriggerType( &xInterruptController, XPAR_SCUTIMER_INTR, portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT, ucRisingEdge );

	/* Install the FreeRTOS tick handler. */
	xStatus = XScuGic_Connect( &xInterruptController, XPAR_SCUTIMER_INTR, (Xil_ExceptionHandler) FreeRTOS_Tick_Handler, ( void * ) &xTimer );
	configASSERT( xStatus == XST_SUCCESS );
	( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */

	/* Initialise the timer. */
	pxTimerConfig = XScuTimer_LookupConfig( XPAR_SCUTIMER_DEVICE_ID );
	xStatus = XScuTimer_CfgInitialize( &xTimer, pxTimerConfig, pxTimerConfig->BaseAddr );
	configASSERT( xStatus == XST_SUCCESS );
	( void ) xStatus; /* Remove compiler warning if configASSERT() is not defined. */

	/* Enable Auto reload mode. */
	XScuTimer_EnableAutoReload( &xTimer );

	/* Load the timer counter register. */
	XScuTimer_LoadTimer( &xTimer, XSCUTIMER_CLOCK_HZ / configTICK_RATE_HZ );

	/* Start the timer counter and then wait for it to timeout a number of
	times. */
	XScuTimer_Start( &xTimer );

	/* Enable the interrupt for the xTimer in the interrupt controller. */
	XScuGic_Enable( &xInterruptController, XPAR_SCUTIMER_INTR );

	/* Enable the interrupt in the xTimer itself. */
	vClearTickInterrupt();
	XScuTimer_EnableInterrupt( &xTimer );
}
/*-----------------------------------------------------------*/

void vClearTickInterrupt( void )
{
	XScuTimer_ClearInterruptStatus( &xTimer );
}
/*-----------------------------------------------------------*/

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 );
	}
}