/*
    FreeRTOS V8.1.1 - 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!
*/

/******************************************************************************
 * This project provides two demo applications.  A simple blinky style project,
 * and a more comprehensive test and demo application.  The
 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
 * select between the two.  The simply blinky demo is implemented and described
 * in main_blinky.c.  The more comprehensive test and demo application is
 * implemented and described in main_full.c.
 *
 * This file implements the code that is not demo specific, including the
 * hardware setup, standard FreeRTOS hook functions, and the ISR hander called
 * by the RTOS after interrupt entry (including nesting) has been taken care of.
 *
 * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
 * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
 * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
 *
 */

/* Scheduler include files. */
#include "FreeRTOS.h"
#include "task.h"
#include "semphr.h"

/* Standard demo includes. */
#include "partest.h"
#include "TimerDemo.h"
#include "QueueOverwrite.h"
#include "EventGroupsDemo.h"

/* Library includes. */
#include "chip.h"

/* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
or 0 to run the more comprehensive test and demo application. */
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY	0

/*-----------------------------------------------------------*/

/*
 * Configure the hardware as necessary to run this demo.
 */
static void prvSetupHardware( void );

/*
 * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
 * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
 */
#if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1
	extern void main_blinky( void );
#else
	extern void main_full( void );
#endif /* #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 */

/* Prototypes for the standard FreeRTOS callback/hook functions implemented
within this file. */
void vApplicationMallocFailedHook( void );
void vApplicationIdleHook( void );
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
void vApplicationTickHook( void );

/* Prototype for the IRQ handler called by the generic Cortex-A5 RTOS port
layer.  The address of the ISR is passed into this function as a parameter.
Note this level of indirection could be removed by creating a SAMA5 specific
port layer that calls the IRQ directly from the port layer rather than via this
application callback. */
void vApplicationIRQHandler( uint32_t ulInterruptVectorAddress );

/*-----------------------------------------------------------*/

int main( void )
{
	/* Configure the hardware ready to run the demo. */
	prvSetupHardware();

	/* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
	of this file. */
	#if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
	{
		main_blinky();
	}
	#else
	{
		main_full();
	}
	#endif

	return 0;
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
    /* Disable watchdog */
    WDT_Disable( WDT );

	/* Set protect mode in the AIC for easier debugging. */
	AIC->AIC_DCR |= AIC_DCR_PROT;

	/* Configure ports used by LEDs. */
	vParTestInitialise();

	CP15_EnableIcache();
}
/*-----------------------------------------------------------*/

void vApplicationMallocFailedHook( void )
{
	/* Called if a call to pvPortMalloc() fails because there is insufficient
	free memory available in the FreeRTOS heap.  pvPortMalloc() is called
	internally by FreeRTOS API functions that create tasks, queues, software
	timers, and semaphores.  The size of the FreeRTOS heap is set by the
	configTOTAL_HEAP_SIZE configuration constant in FreeRTOSConfig.h. */
	taskDISABLE_INTERRUPTS();
	for( ;; );
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
	( void ) pcTaskName;
	( void ) pxTask;

	/* Run time stack overflow checking is performed if
	configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
	function is called if a stack overflow is detected. */
	taskDISABLE_INTERRUPTS();
	for( ;; );
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
volatile size_t xFreeHeapSpace;

	/* This is just a trivial example of an idle hook.  It is called on each
	cycle of the idle task.  It must *NOT* attempt to block.  In this case the
	idle task just queries the amount of FreeRTOS heap that remains.  See the
	memory management section on the http://www.FreeRTOS.org web site for memory
	management options.  If there is a lot of heap memory free then the
	configTOTAL_HEAP_SIZE value in FreeRTOSConfig.h can be reduced to free up
	RAM. */
	xFreeHeapSpace = xPortGetFreeHeapSize();

	/* Remove compiler warning about xFreeHeapSpace being set but never used. */
	( void ) xFreeHeapSpace;
}
/*-----------------------------------------------------------*/

void vAssertCalled( const char * pcFile, unsigned long ulLine )
{
volatile unsigned long ul = 0;

	( void ) pcFile;
	( void ) ulLine;

	taskENTER_CRITICAL();
	{
		/* Set ul to a non-zero value using the debugger to step out of this
		function. */
		while( ul == 0 )
		{
			portNOP();
		}
	}
	taskEXIT_CRITICAL();
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
	#if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 0
	{
		/* The full demo includes a software timer demo/test that requires
		prodding periodically from the tick interrupt. */
		vTimerPeriodicISRTests();

		/* Call the periodic queue overwrite from ISR demo. */
		vQueueOverwritePeriodicISRDemo();

		/* Call the periodic event group from ISR demo. */
		vPeriodicEventGroupsProcessing();
	}
	#endif
}
/*-----------------------------------------------------------*/

/* The function called by the RTOS port layer after it has managed interrupt
entry. */
void vApplicationIRQHandler( uint32_t ulInterruptVectorAddress )
{
typedef void (*ISRFunction_t)( void );
ISRFunction_t pxISRFunction;
volatile uint32_t * pulAIC_IVR = ( uint32_t * ) configINTERRUPT_VECTOR_ADDRESS;

	/* On the SAMA5 the parameter is a pointer to the ISR handling function. */
	pxISRFunction = ( ISRFunction_t ) ulInterruptVectorAddress;

	/* Write back to the SAMA5's interrupt controller's IVR register in case the
	CPU is in protect mode.  If the interrupt controller is not in protect mode
	then this write is not necessary. */
	*pulAIC_IVR = 0;

	/* Ensure the write takes before re-enabling interrupts. */
	__DSB();
	__ISB();
    __enable_irq();

	/* Call the installed ISR. */
	pxISRFunction();
}