/*
    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!
*/

/*
Changes from V1.2.5

	+  Clear overrun errors in the Rx ISR.  Overrun errors prevent any further
	   characters being received.

Changes from V2.0.0

	+ Use TickType_t in place of unsigned pdLONG for delay periods.
	+ cQueueReieveFromISR() used in place of xQueueReceive() in ISR.
*/

/* BASIC INTERRUPT DRIVEN SERIAL PORT DRIVER. */

/* Scheduler header files. */
#include "FreeRTOS.h"
#include "task.h"
#include "serial.h"
#include "queue.h"

/*
 * Prototypes for ISR's.  The PIC architecture means that these functions
 * have to be called from port.c.  The prototypes are not however included
 * in the header as the header is common to all ports.
 */
void vSerialTxISR( void );
void vSerialRxISR( void );

/* Hardware pin definitions. */
#define serTX_PIN	TRISCbits.TRISC6
#define serRX_PIN	TRISCbits.TRISC7

/* Bit/register definitions. */
#define serINPUT				( 1 )
#define serOUTPUT				( 0 )
#define serTX_ENABLE			( ( unsigned short ) 1 )
#define serRX_ENABLE			( ( unsigned short ) 1 )
#define serHIGH_SPEED			( ( unsigned short ) 1 )
#define serCONTINUOUS_RX		( ( unsigned short ) 1 )
#define serCLEAR_OVERRUN		( ( unsigned short ) 0 )
#define serINTERRUPT_ENABLED 	( ( unsigned short ) 1 )
#define serINTERRUPT_DISABLED 	( ( unsigned short ) 0 )

/* All ISR's use the PIC18 low priority interrupt. */
#define							serLOW_PRIORITY ( 0 )

/*-----------------------------------------------------------*/

/* Queues to interface between comms API and interrupt routines. */
static QueueHandle_t xRxedChars; 
static QueueHandle_t xCharsForTx;

/*-----------------------------------------------------------*/

xComPortHandle xSerialPortInitMinimal( unsigned long ulWantedBaud, unsigned portBASE_TYPE uxQueueLength )
{
unsigned long ulBaud;

	/* Calculate the baud rate generator constant.
	SPBRG = ( (FOSC / Desired Baud Rate) / 16 ) - 1 */
	ulBaud = configCPU_CLOCK_HZ / ulWantedBaud;
	ulBaud /= ( unsigned long ) 16;
	ulBaud -= ( unsigned long ) 1;

	/* Create the queues used by the ISR's to interface to tasks. */
	xRxedChars = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( char ) );
	xCharsForTx = xQueueCreate( uxQueueLength, ( unsigned portBASE_TYPE ) sizeof( char ) );

	portENTER_CRITICAL();
	{
		/* Start with config registers cleared, so we can just set the wanted
		bits. */
		TXSTA = ( unsigned short ) 0;
		RCSTA = ( unsigned short ) 0;

		/* Set the baud rate generator using the above calculated constant. */
		SPBRG = ( unsigned char ) ulBaud;

		/* Setup the IO pins to enable the USART IO. */
		serTX_PIN = serOUTPUT;
		serRX_PIN = serINPUT;

		/* Set the serial interrupts to use the same priority as the tick. */
		IPR1bits.TXIP = serLOW_PRIORITY;
		IPR1bits.RCIP = serLOW_PRIORITY;

		/* Setup Tx configuration. */
		TXSTAbits.BRGH = serHIGH_SPEED;
		TXSTAbits.TXEN = serTX_ENABLE;

		/* Setup Rx configuration. */
		RCSTAbits.SPEN = serRX_ENABLE;
		RCSTAbits.CREN = serCONTINUOUS_RX;

		/* Enable the Rx interrupt now, the Tx interrupt will get enabled when
		we have data to send. */
		PIE1bits.RCIE = serINTERRUPT_ENABLED;
	}
	portEXIT_CRITICAL();

	/* Unlike other ports, this serial code does not allow for more than one
	com port.  We therefore don't return a pointer to a port structure and 
	can	instead just return NULL. */
	return NULL;
}
/*-----------------------------------------------------------*/

xComPortHandle xSerialPortInit( eCOMPort ePort, eBaud eWantedBaud, eParity eWantedParity, eDataBits eWantedDataBits, eStopBits eWantedStopBits, unsigned portBASE_TYPE uxBufferLength )
{
	/* This is not implemented in this port.
	Use xSerialPortInitMinimal() instead. */
}
/*-----------------------------------------------------------*/

portBASE_TYPE xSerialGetChar( xComPortHandle pxPort, signed char *pcRxedChar, TickType_t xBlockTime )
{
	/* Get the next character from the buffer.  Return false if no characters
	are available, or arrive before xBlockTime expires. */
	if( xQueueReceive( xRxedChars, pcRxedChar, xBlockTime ) )
	{
		return pdTRUE;
	}
	else
	{
		return pdFALSE;
	}
}
/*-----------------------------------------------------------*/

portBASE_TYPE xSerialPutChar( xComPortHandle pxPort, signed char cOutChar, TickType_t xBlockTime )
{
	/* Return false if after the block time there is no room on the Tx queue. */
	if( xQueueSend( xCharsForTx, ( const void * ) &cOutChar, xBlockTime ) != pdPASS )
	{
		return pdFAIL;
	}

	/* Turn interrupt on - ensure the compiler only generates a single 
	instruction for this. */
	PIE1bits.TXIE = serINTERRUPT_ENABLED;

	return pdPASS;
}
/*-----------------------------------------------------------*/

void vSerialClose( xComPortHandle xPort )
{
	/* Not implemented for this port.
	To implement, turn off the interrupts and delete the memory
	allocated to the queues. */
}
/*-----------------------------------------------------------*/

#pragma interruptlow vSerialRxISR save=PRODH, PRODL, TABLAT, section(".tmpdata")
void vSerialRxISR( void )
{
char cChar;
portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;

	/* Get the character and post it on the queue of Rxed characters.
	If the post causes a task to wake force a context switch as the woken task
	may have a higher priority than the task we have interrupted. */
	cChar = RCREG;

	/* Clear any overrun errors. */
	if( RCSTAbits.OERR )
	{
		RCSTAbits.CREN = serCLEAR_OVERRUN;
		RCSTAbits.CREN = serCONTINUOUS_RX;	
	}

	xQueueSendFromISR( xRxedChars, ( const void * ) &cChar, &xHigherPriorityTaskWoken );

	if( xHigherPriorityTaskWoken )
	{
		taskYIELD();
	}
}
/*-----------------------------------------------------------*/

#pragma interruptlow vSerialTxISR save=PRODH, PRODL, TABLAT, section(".tmpdata")
void vSerialTxISR( void )
{
char cChar, cTaskWoken = pdFALSE;

	if( xQueueReceiveFromISR( xCharsForTx, &cChar, &cTaskWoken ) == pdTRUE )
	{
		/* Send the next character queued for Tx. */
		TXREG = cChar;
	}
	else
	{
		/* Queue empty, nothing to send. */
		PIE1bits.TXIE = serINTERRUPT_DISABLED;
	}
}