/*
    FreeRTOS V7.4.1 - Copyright (C) 2013 Real Time Engineers Ltd.

    FEATURES AND PORTS ARE ADDED TO FREERTOS ALL THE TIME.  PLEASE VISIT
    http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    ***************************************************************************
     *                                                                       *
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     *    Complete, revised, and edited pdf reference manuals are also       *
     *    available.                                                         *
     *                                                                       *
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     *    ensuring you get running as quickly as possible and with an        *
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     *    professional grade, cross platform, de facto standard solutions    *
     *    for microcontrollers - completely free of charge!                  *
     *                                                                       *
     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
     *                                                                       *
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     *                                                                       *
    ***************************************************************************


    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
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    kernel.

    FreeRTOS is distributed in the hope that it will be useful, but WITHOUT ANY
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    and the FreeRTOS license exception along with FreeRTOS; if not it can be
    viewed here: http://www.freertos.org/a00114.html and also obtained by
    writing to Real Time Engineers Ltd., contact details for whom are available
    on the FreeRTOS WEB site.

    1 tab == 4 spaces!

    ***************************************************************************
     *                                                                       *
     *    Having a problem?  Start by reading the FAQ "My application does   *
     *    not run, what could be wrong?"                                     *
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    ***************************************************************************


    http://www.FreeRTOS.org - Documentation, books, training, latest versions,
    license and Real Time Engineers Ltd. contact details.

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    engineered and independently SIL3 certified version for use in safety and
    mission critical applications that require provable dependability.
*/

/*-----------------------------------------------------------
 * Implementation of functions defined in portable.h for the ARM CM4F port.
 *----------------------------------------------------------*/

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Constants required to manipulate the NVIC. */
#define portNVIC_SYSTICK_CTRL		( ( volatile unsigned long * ) 0xe000e010 )
#define portNVIC_SYSTICK_LOAD		( ( volatile unsigned long * ) 0xe000e014 )
#define portNVIC_SYSPRI2			( ( volatile unsigned long * ) 0xe000ed20 )
#define portNVIC_SYSTICK_CLK		0x00000004
#define portNVIC_SYSTICK_INT		0x00000002
#define portNVIC_SYSTICK_ENABLE		0x00000001
#define portNVIC_PENDSV_PRI			( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16 )
#define portNVIC_SYSTICK_PRI		( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24 )

/* Constants required to manipulate the VFP. */
#define portFPCCR					( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */
#define portASPEN_AND_LSPEN_BITS	( 0x3UL << 30UL )

/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR			( 0x01000000 )
#define portINITIAL_EXEC_RETURN		( 0xfffffffd )

/* The priority used by the kernel is assigned to a variable to make access
from inline assembler easier. */
const unsigned long ulKernelPriority = configKERNEL_INTERRUPT_PRIORITY;

/* Each task maintains its own interrupt status in the critical nesting
variable. */
static unsigned long ulCriticalNesting = 0xaaaaaaaaUL;

/*
 * Setup the timer to generate the tick interrupts.
 */
static void prvSetupTimerInterrupt( void );

/*
 * Exception handlers.
 */
void SysTick_Handler( void );

/*
 * Functions defined in port_asm.asm.
 */
extern void vPortEnableVFP( void );
extern void vPortStartFirstTask( void );

/* This exists purely to allow the const to be used from within the
port_asm.asm assembly file. */
const unsigned long ulMaxSyscallInterruptPriorityConst = configMAX_SYSCALL_INTERRUPT_PRIORITY;

/*-----------------------------------------------------------*/

/*
 * See header file for description.
 */
portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )
{
	/* Simulate the stack frame as it would be created by a context switch
	interrupt. */

	/* Offset added to account for the way the MCU uses the stack on entry/exit
	of interrupts, and to ensure alignment. */
	pxTopOfStack--;

	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
	pxTopOfStack--;
	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
	pxTopOfStack--;
	*pxTopOfStack = 0;	/* LR */

	/* Save code space by skipping register initialisation. */
	pxTopOfStack -= 5;	/* R12, R3, R2 and R1. */
	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;	/* R0 */

	/* A save method is being used that requires each task to maintain its
	own exec return value. */
	pxTopOfStack--;
	*pxTopOfStack = portINITIAL_EXEC_RETURN;

	pxTopOfStack -= 8;	/* R11, R10, R9, R8, R7, R6, R5 and R4. */

	return pxTopOfStack;
}
/*-----------------------------------------------------------*/

/*
 * See header file for description.
 */
portBASE_TYPE xPortStartScheduler( void )
{
	/* configMAX_SYSCALL_INTERRUPT_PRIORITY must not be set to 0.
	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
	configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY ) );

	/* Make PendSV and SysTick the lowest priority interrupts. */
	*(portNVIC_SYSPRI2) |= portNVIC_PENDSV_PRI;
	*(portNVIC_SYSPRI2) |= portNVIC_SYSTICK_PRI;

	/* Start the timer that generates the tick ISR.  Interrupts are disabled
	here already. */
	prvSetupTimerInterrupt();

	/* Initialise the critical nesting count ready for the first task. */
	ulCriticalNesting = 0;

	/* Ensure the VFP is enabled - it should be anyway. */
	vPortEnableVFP();

	/* Lazy save always. */
	*( portFPCCR ) |= portASPEN_AND_LSPEN_BITS;

	/* Start the first task. */
	vPortStartFirstTask();

	/* Should not get here! */
	return 0;
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
	/* It is unlikely that the CM4F port will require this function as there
	is nothing to return to.  */
}
/*-----------------------------------------------------------*/

void vPortYield( void )
{
	/* Set a PendSV to request a context switch. */
	*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;

	/* Barriers are normally not required but do ensure the code is completely
	within the specified behaviour for the architecture. */
	__DSB();
	__ISB();
}
/*-----------------------------------------------------------*/

void vPortEnterCritical( void )
{
	portDISABLE_INTERRUPTS();
	ulCriticalNesting++;
	__DSB();
	__ISB();
}
/*-----------------------------------------------------------*/

void vPortExitCritical( void )
{
	ulCriticalNesting--;
	if( ulCriticalNesting == 0 )
	{
		portENABLE_INTERRUPTS();
	}
}
/*-----------------------------------------------------------*/

void SysTick_Handler( void )
{
unsigned long ulDummy;

	/* If using preemption, also force a context switch. */
	#if configUSE_PREEMPTION == 1
		*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
	#endif

	ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
	{
		vTaskIncrementTick();
	}
	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
}
/*-----------------------------------------------------------*/

/*
 * Setup the systick timer to generate the tick interrupts at the required
 * frequency.
 */
void prvSetupTimerInterrupt( void )
{
	/* Configure SysTick to interrupt at the requested rate. */
	*(portNVIC_SYSTICK_LOAD) = ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) - 1UL;
	*(portNVIC_SYSTICK_CTRL) = portNVIC_SYSTICK_CLK | portNVIC_SYSTICK_INT | portNVIC_SYSTICK_ENABLE;
}
/*-----------------------------------------------------------*/