/*
    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!
*/

/* Standard includes. */
#include <stdlib.h>

/* Kernel includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Machine includes */
#include <machine/counter.h>
#include <machine/ic.h>
/*-----------------------------------------------------------*/

/* The initial PSR has the Previous Interrupt Enabled (PIEN) flag set. */
#define portINITIAL_PSR			( 0x00020000 )

/*-----------------------------------------------------------*/

/*
 * Perform any hardware configuration necessary to generate the tick interrupt.
 */
static void prvSetupTimerInterrupt( void );
/*-----------------------------------------------------------*/

StackType_t *pxPortInitialiseStack( StackType_t * pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
{
	/* Make space on the stack for the context - this leaves a couple of spaces
	empty.  */
	pxTopOfStack -= 20;

	/* Fill the registers with known values to assist debugging. */
	pxTopOfStack[ 16 ] = 0;
	pxTopOfStack[ 15 ] = portINITIAL_PSR;
	pxTopOfStack[ 14 ] = ( uint32_t ) pxCode;
	pxTopOfStack[ 13 ] = 0x00000000UL; /* R15. */
	pxTopOfStack[ 12 ] = 0x00000000UL; /* R14. */
	pxTopOfStack[ 11 ] = 0x0d0d0d0dUL;
	pxTopOfStack[ 10 ] = 0x0c0c0c0cUL;
	pxTopOfStack[ 9 ] = 0x0b0b0b0bUL;
	pxTopOfStack[ 8 ] = 0x0a0a0a0aUL;
	pxTopOfStack[ 7 ] = 0x09090909UL;
	pxTopOfStack[ 6 ] = 0x08080808UL;
	pxTopOfStack[ 5 ] = 0x07070707UL;
	pxTopOfStack[ 4 ] = 0x06060606UL;
	pxTopOfStack[ 3 ] = 0x05050505UL;
	pxTopOfStack[ 2 ] = 0x04040404UL;
	pxTopOfStack[ 1 ] = 0x03030303UL;
	pxTopOfStack[ 0 ] = ( uint32_t ) pvParameters;

	return pxTopOfStack;
}
/*-----------------------------------------------------------*/

BaseType_t xPortStartScheduler( void )
{
	/* Set-up the timer interrupt. */
	prvSetupTimerInterrupt();

	/* Integrated Interrupt Controller: Enable all interrupts. */
	ic->ien = 1;

	/* Restore callee saved registers. */
	portRESTORE_CONTEXT();

	/* Should not get here. */
	return 0;
}
/*-----------------------------------------------------------*/

static void prvSetupTimerInterrupt( void )
{
	/* Enable timer interrupts */
	counter1->reload = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1;
	counter1->value = counter1->reload;
	counter1->mask = 1;

	/* Set the IRQ Handler priority and enable it. */
	irq[ IRQ_COUNTER1 ].ien = 1;
}
/*-----------------------------------------------------------*/

/* Trap 31 handler. */
void interrupt31_handler( void ) __attribute__((naked));
void interrupt31_handler( void )
{
	portSAVE_CONTEXT();
	__asm volatile ( "call vTaskSwitchContext" );
	portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/

static void prvProcessTick( void ) __attribute__((noinline));
static void prvProcessTick( void )
{
	if( xTaskIncrementTick() != pdFALSE )
	{
		vTaskSwitchContext();
	}
		
	/* Clear the Tick Interrupt. */
	counter1->expired = 0;
}
/*-----------------------------------------------------------*/

/* Timer 1 interrupt handler, used for tick interrupt. */
void interrupt7_handler( void ) __attribute__((naked));
void interrupt7_handler( void )
{
	portSAVE_CONTEXT();
	prvProcessTick();
	portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
	/* Nothing to do. Unlikely to want to end. */
}
/*-----------------------------------------------------------*/