/*
 * FreeRTOS Kernel V10.2.1
 * Copyright (C) 2019 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * http://www.FreeRTOS.org
 * http://aws.amazon.com/freertos
 *
 * 1 tab == 4 spaces!
 */


/*-----------------------------------------------------------
 * Implementation of functions defined in portable.h for the ARM7 port.
 *
 * Components that can be compiled to either ARM or THUMB mode are
 * contained in this file.  The ISR routines, which can only be compiled
 * to ARM mode are contained in portISR.c.
 *----------------------------------------------------------*/


/* Standard includes. */
#include <stdlib.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Constants required to setup the task context. */
#define portINITIAL_SPSR				( ( StackType_t ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */
#define portTHUMB_MODE_BIT				( ( StackType_t ) 0x20 )
#define portINSTRUCTION_SIZE			( ( StackType_t ) 4 )
#define portNO_CRITICAL_SECTION_NESTING	( ( StackType_t ) 0 )

/* Constants required to setup the tick ISR. */
#define portENABLE_TIMER                ( ( uint8_t ) 0x01 )
#define portPRESCALE_VALUE              0x00
#define portINTERRUPT_ON_MATCH          ( ( uint32_t ) 0x01 )
#define portRESET_COUNT_ON_MATCH        ( ( uint32_t ) 0x02 )

/* Constants required to setup the VIC for the tick ISR. */
#define portTIMER_VIC_CHANNEL           ( ( uint32_t ) 0x0004 )
#define portTIMER_VIC_CHANNEL_BIT       ( ( uint32_t ) 0x0010 )
#define portTIMER_VIC_ENABLE            ( ( uint32_t ) 0x0020 )

/*-----------------------------------------------------------*/

/* Setup the timer to generate the tick interrupts. */
static void prvSetupTimerInterrupt( void );

/* 
 * The scheduler can only be started from ARM mode, so 
 * vPortISRStartFirstSTask() is defined in portISR.c. 
 */
extern void vPortISRStartFirstTask( void );

/*-----------------------------------------------------------*/

/* 
 * Initialise the stack of a task to look exactly as if a call to 
 * portSAVE_CONTEXT had been called.
 *
 * See header file for description. 
 */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
{
StackType_t *pxOriginalTOS;

	pxOriginalTOS = pxTopOfStack;
	
	/* To ensure asserts in tasks.c don't fail, although in this case the assert
	is not really required. */
	pxTopOfStack--;

	/* Setup the initial stack of the task.  The stack is set exactly as 
	expected by the portRESTORE_CONTEXT() macro. */

	/* First on the stack is the return address - which in this case is the
	start of the task.  The offset is added to make the return address appear
	as it would within an IRQ ISR. */
	*pxTopOfStack = ( StackType_t ) pxCode + portINSTRUCTION_SIZE;		
	pxTopOfStack--;

	*pxTopOfStack = ( StackType_t ) 0x00000000;	/* R14 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) pxOriginalTOS; /* Stack used when task starts goes in R13. */
	pxTopOfStack--;
	*pxTopOfStack = ( StackType_t ) 0x12121212;	/* R12 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) 0x11111111;	/* R11 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) 0x10101010;	/* R10 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) 0x09090909;	/* R9 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) 0x08080808;	/* R8 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) 0x07070707;	/* R7 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) 0x06060606;	/* R6 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) 0x05050505;	/* R5 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) 0x04040404;	/* R4 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) 0x03030303;	/* R3 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) 0x02020202;	/* R2 */
	pxTopOfStack--;	
	*pxTopOfStack = ( StackType_t ) 0x01010101;	/* R1 */
	pxTopOfStack--;	

	/* When the task starts is will expect to find the function parameter in
	R0. */
	*pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
	pxTopOfStack--;

	/* The last thing onto the stack is the status register, which is set for
	system mode, with interrupts enabled. */
	*pxTopOfStack = ( StackType_t ) portINITIAL_SPSR;

	if( ( ( uint32_t ) pxCode & 0x01UL ) != 0x00 )
	{
		/* We want the task to start in thumb mode. */
		*pxTopOfStack |= portTHUMB_MODE_BIT;
	}

	pxTopOfStack--;

	/* Some optimisation levels use the stack differently to others.  This 
	means the interrupt flags cannot always be stored on the stack and will
	instead be stored in a variable, which is then saved as part of the
	tasks context. */
	*pxTopOfStack = portNO_CRITICAL_SECTION_NESTING;

	return pxTopOfStack;
}
/*-----------------------------------------------------------*/

BaseType_t xPortStartScheduler( void )
{
	/* Start the timer that generates the tick ISR.  Interrupts are disabled
	here already. */
	prvSetupTimerInterrupt();

	/* Start the first task. */
	vPortISRStartFirstTask();	

	/* Should not get here! */
	return 0;
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
	/* It is unlikely that the ARM port will require this function as there
	is nothing to return to.  */
}
/*-----------------------------------------------------------*/

/*
 * Setup the timer 0 to generate the tick interrupts at the required frequency.
 */
static void prvSetupTimerInterrupt( void )
{
uint32_t ulCompareMatch;

	PCLKSEL0 = (PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);
	T0TCR  = 2;         /* Stop and reset the timer */
	T0CTCR = 0;         /* Timer mode               */
	
	/* A 1ms tick does not require the use of the timer prescale.  This is
	defaulted to zero but can be used if necessary. */
	T0PR = portPRESCALE_VALUE;

	/* Calculate the match value required for our wanted tick rate. */
	ulCompareMatch = configCPU_CLOCK_HZ / configTICK_RATE_HZ;

	/* Protect against divide by zero.  Using an if() statement still results
	in a warning - hence the #if. */
	#if portPRESCALE_VALUE != 0
	{
		ulCompareMatch /= ( portPRESCALE_VALUE + 1 );
	}
	#endif
	T0MR1 = ulCompareMatch;

	/* Generate tick with timer 0 compare match. */
	T0MCR  = (3 << 3);  /* Reset timer on match and generate interrupt */

	/* Setup the VIC for the timer. */
	VICIntEnable = 0x00000010;
	
	/* The ISR installed depends on whether the preemptive or cooperative
	scheduler is being used. */
	#if configUSE_PREEMPTION == 1
	{
		extern void ( vPreemptiveTick )( void );
		VICVectAddr4 = ( int32_t ) vPreemptiveTick;
	}
	#else
	{
		extern void ( vNonPreemptiveTick )( void );
		VICVectAddr4 = ( int32_t ) vNonPreemptiveTick;
	}
	#endif

	VICVectCntl4 = 1;

	/* Start the timer - interrupts are disabled when this function is called
	so it is okay to do this here. */
	T0TCR = portENABLE_TIMER;
}
/*-----------------------------------------------------------*/