/*
    FreeRTOS V8.0.0 - Copyright (C) 2014 Real Time Engineers Ltd.
    All rights reserved

    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS provides completely free yet professionally developed,    *
     *    robust, strictly quality controlled, supported, and cross          *
     *    platform software that has become a de facto standard.             *
     *                                                                       *
     *    Help yourself get started quickly and support the FreeRTOS         *
     *    project by purchasing a FreeRTOS tutorial book, reference          *
     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
     *                                                                       *
     *    Thank you!                                                         *
     *                                                                       *
    ***************************************************************************

    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 from 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?"                                     *
     *                                                                       *
     *    http://www.FreeRTOS.org/FAQHelp.html                               *
     *                                                                       *
    ***************************************************************************

    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.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
    licenses offer ticketed support, indemnification and 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!
*/

#include <xc.h>
#include <sys/asm.h>
#include "FreeRTOSConfig.h"
#include "ISR_Support.h"


	.extern pxCurrentTCB
	.extern vTaskSwitchContext
	.extern vPortIncrementTick
	.extern xISRStackTop

	.global vPortStartFirstTask
	.global vPortYieldISR
	.global vPortTickInterruptHandler


/******************************************************************/

	.set  nomips16
	.set  nomicromips
	.set  noreorder
	.set  noat

	/***************************************************************
	*  The following is needed to locate the
	*  vPortTickInterruptHandler function into the correct vector
	***************************************************************/
	#ifdef configTICK_INTERRUPT_VECTOR
		#if (configTICK_INTERRUPT_VECTOR == _CORE_TIMER_VECTOR)
			.equ     __vector_dispatch_0, vPortTickInterruptHandler
			.global  __vector_dispatch_0
			.section .vector_0, code, keep
		#elif (configTICK_INTERRUPT_VECTOR == _TIMER_1_VECTOR)
			.equ     __vector_dispatch_4, vPortTickInterruptHandler
			.global  __vector_dispatch_4
			.section .vector_4, code, keep
		#elif (configTICK_INTERRUPT_VECTOR == _TIMER_2_VECTOR)
			.equ     __vector_dispatch_9, vPortTickInterruptHandler
			.global  __vector_dispatch_9
			.section .vector_9, code, keep
		#elif (configTICK_INTERRUPT_VECTOR == _TIMER_3_VECTOR)
			.equ     __vector_dispatch_14, vPortTickInterruptHandler
			.global  __vector_dispatch_14
			.section .vector_14, code, keep
		#elif (configTICK_INTERRUPT_VECTOR == _TIMER_4_VECTOR)
			.equ     __vector_dispatch_19, vPortTickInterruptHandler
			.global  __vector_dispatch_19
			.section .vector_19, code, keep
		#elif (configTICK_INTERRUPT_VECTOR == _TIMER_5_VECTOR)
			.equ     __vector_dispatch_24, vPortTickInterruptHandler
			.global  __vector_dispatch_24
			.section .vector_24, code, keep
		#elif (configTICK_INTERRUPT_VECTOR == _TIMER_6_VECTOR)
			.equ     __vector_dispatch_28, vPortTickInterruptHandler
			.global  __vector_dispatch_28
			.section .vector_28, code, keep
		#elif (configTICK_INTERRUPT_VECTOR == _TIMER_7_VECTOR)
			.equ     __vector_dispatch_32, vPortTickInterruptHandler
			.global  __vector_dispatch_32
			.section .vector_32, code, keep
		#elif (configTICK_INTERRUPT_VECTOR == _TIMER_8_VECTOR)
			.equ     __vector_dispatch_36, vPortTickInterruptHandler
			.global  __vector_dispatch_36
			.section .vector_36, code, keep
		#elif (configTICK_INTERRUPT_VECTOR == _TIMER_9_VECTOR)
			.equ     __vector_dispatch_40, vPortTickInterruptHandler
			.global  __vector_dispatch_40
			.section .vector_40, code, keep
		#endif
	#else
		.equ     __vector_dispatch_4, vPortTickInterruptHandler
		.global  __vector_dispatch_4
		.section .vector_4, code, keep
	#endif

	.ent		vPortTickInterruptHandler

vPortTickInterruptHandler:

	portSAVE_CONTEXT

	jal 		vPortIncrementTick
	nop

	portRESTORE_CONTEXT

	.end vPortTickInterruptHandler

/******************************************************************/

	.set		noreorder
	.set 		noat
	.section .text, code
	.ent		vPortStartFirstTask

vPortStartFirstTask:

	/* Simply restore the context of the highest priority task that has been
	created so far. */
	portRESTORE_CONTEXT

	.end vPortStartFirstTask



/*******************************************************************/

	.set  nomips16
	.set  nomicromips
	.set  noreorder
	.set  noat
	/***************************************************************
	*  The following is needed to locate the vPortYieldISR function
	*  into the correct vector
	***************************************************************/
	.equ     __vector_dispatch_1, vPortYieldISR
	.global  __vector_dispatch_1
	.section .vector_1, code

	.ent  vPortYieldISR
vPortYieldISR:

	/* Make room for the context. First save the current status so it can be
	manipulated, and the cause and EPC registers so thier original values are
	captured. */
	addiu		sp, sp, -portCONTEXT_SIZE
	mfc0		k1, _CP0_STATUS

	/* Also save s6 and s5 so they can be used.  Any nesting interrupts should
	maintain the values of these registers across the ISR. */
	sw			s6, 44(sp)
	sw			s5, 40(sp)
	sw			k1, portSTATUS_STACK_LOCATION(sp)

	/* Prepare to re-enabled interrupts above the kernel priority. */
	ins 		k1, zero, 10, 7         /* Clear IPL bits 0:6. */
    ins 		k1, zero, 18, 1         /* Clear IPL bit 7.  It would be an error here if this bit were set anyway. */
	ori			k1, k1, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 )
    ins			k1, zero, 1, 4          /* Clear EXL, ERL and UM. */

	/* s5 is used as the frame pointer. */
	add			s5, zero, sp

	/* Swap to the system stack.  This is not conditional on the nesting
	count as this interrupt is always the lowest priority and therefore
	the nesting is always 0. */
	la			sp, xISRStackTop
	lw			sp, (sp)

	/* Set the nesting count. */
	la			k0, uxInterruptNesting
	addiu		s6, zero, 1
	sw			s6, 0(k0)

	/* s6 holds the EPC value, this is saved with the rest of the context
	after interrupts are enabled. */
	mfc0 		s6, _CP0_EPC

	/* Re-enable interrupts above configMAX_SYSCALL_INTERRUPT_PRIORITY. */
	mtc0		k1, _CP0_STATUS

	/* Save the context into the space just created.  s6 is saved again
	here as it now contains the EPC value. */
	sw			ra, 120(s5)
	sw			s8, 116(s5)
	sw			t9, 112(s5)
	sw			t8, 108(s5)
	sw			t7, 104(s5)
	sw			t6, 100(s5)
	sw			t5, 96(s5)
	sw			t4, 92(s5)
	sw			t3, 88(s5)
	sw			t2, 84(s5)
	sw			t1, 80(s5)
	sw			t0, 76(s5)
	sw			a3, 72(s5)
	sw			a2, 68(s5)
	sw			a1, 64(s5)
	sw			a0, 60(s5)
	sw			v1, 56(s5)
	sw			v0, 52(s5)
	sw			s7, 48(s5)
	sw			s6, portEPC_STACK_LOCATION(s5)
	/* s5 and s6 has already been saved. */
	sw			s4,	36(s5)
	sw			s3, 32(s5)
	sw			s2, 28(s5)
	sw			s1, 24(s5)
	sw			s0, 20(s5)
	sw			$1, 16(s5)

	/* s7 is used as a scratch register as this should always be saved across
	nesting interrupts. */

	/* Save the AC0, AC1, AC2 and AC3. */
	mfhi		s7, $ac1
	sw			s7, 128(s5)
	mflo		s7, $ac1
	sw			s7, 124(s5)

	mfhi		s7, $ac2
	sw			s7, 136(s5)
	mflo		s7, $ac2
	sw			s7, 132(s5)

	mfhi		s7, $ac3
	sw			s7, 144(s5)
	mflo		s7, $ac3
	sw			s7, 140(s5)

	rddsp		s7
	sw			s7, 148(s5)

	mfhi		s7, $ac0
	sw			s7, 12(s5)
	mflo		s7, $ac0
	sw			s7, 8(s5)

	/* Save the stack pointer to the task. */
	la			s7, pxCurrentTCB
	lw			s7, (s7)
	sw			s5, (s7)

	/* Set the interrupt mask to the max priority that can use the API.  The
	yield handler will only be called at configKERNEL_INTERRUPT_PRIORITY which
	is below configMAX_SYSCALL_INTERRUPT_PRIORITY - so this can only ever
	raise the IPL value and never lower it. */
	di
	ehb
	mfc0		s7, _CP0_STATUS
	ins 		s7, zero, 10, 7
    ins 		s7, zero, 18, 1
	ori			s6, s7, ( configMAX_SYSCALL_INTERRUPT_PRIORITY << 10 ) | 1

	/* This mtc0 re-enables interrupts, but only above
	configMAX_SYSCALL_INTERRUPT_PRIORITY. */
	mtc0		s6, _CP0_STATUS
	ehb

	/* Clear the software interrupt in the core. */
	mfc0		s6, _CP0_CAUSE
	ins			s6, zero, 8, 1
	mtc0		s6, _CP0_CAUSE
	ehb

	/* Clear the interrupt in the interrupt controller. */
	la			s6, IFS0CLR
	addiu		s4, zero, 2
	sw			s4, (s6)

	jal			vTaskSwitchContext
	nop

	/* Clear the interrupt mask again.  The saved status value is still in s7. */
	mtc0		s7, _CP0_STATUS
	ehb

	/* Restore the stack pointer from the TCB. */
	la			s0, pxCurrentTCB
	lw			s0, (s0)
	lw			s5, (s0)

	/* Restore the rest of the context. */
	lw			s0, 128(s5)
	mthi		s0, $ac1
	lw			s0, 124(s5)
	mtlo		s0, $ac1

	lw			s0, 136(s5)
	mthi		s0, $ac2
	lw			s0, 132(s5)
	mtlo		s0, $ac2

	lw			s0, 144(s5)
	mthi		s0, $ac3
	lw			s0, 140(s5)
	mtlo		s0, $ac3

	lw			s0, 148(s5)
	wrdsp		s0

	lw			s0, 8(s5)
	mtlo		s0, $ac0
	lw			s0, 12(s5)
	mthi		s0, $ac0

	lw			$1, 16(s5)
	lw			s0, 20(s5)
	lw			s1, 24(s5)
	lw			s2, 28(s5)
	lw			s3, 32(s5)
	lw			s4, 36(s5)

	/* s5 is loaded later. */
	lw			s6, 44(s5)
	lw			s7, 48(s5)
	lw			v0, 52(s5)
	lw			v1, 56(s5)
	lw			a0, 60(s5)
	lw			a1, 64(s5)
	lw			a2, 68(s5)
	lw			a3, 72(s5)
	lw			t0, 76(s5)
	lw			t1, 80(s5)
	lw			t2, 84(s5)
	lw			t3, 88(s5)
	lw			t4, 92(s5)
	lw			t5, 96(s5)
	lw			t6, 100(s5)
	lw			t7, 104(s5)
	lw			t8, 108(s5)
	lw			t9, 112(s5)
	lw			s8, 116(s5)
	lw			ra, 120(s5)

	/* Protect access to the k registers, and others. */
	di
	ehb

	/* Set nesting back to zero.  As the lowest priority interrupt this
	interrupt cannot have nested. */
	la			k0, uxInterruptNesting
	sw			zero, 0(k0)

	/* Switch back to use the real stack pointer. */
	add			sp, zero, s5

	/* Restore the real s5 value. */
	lw			s5, 40(sp)

	/* Pop the status and epc values. */
	lw			k1, portSTATUS_STACK_LOCATION(sp)
	lw			k0, portEPC_STACK_LOCATION(sp)

	/* Remove stack frame. */
	addiu		sp, sp, portCONTEXT_SIZE

	mtc0		k1, _CP0_STATUS
	mtc0 		k0, _CP0_EPC
	ehb
	eret
	nop

	.end		vPortYieldISR