/*
 * 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 Atmel ARM7 port.
 *----------------------------------------------------------*/


/* Standard includes. */
#include <stdlib.h>

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"

/* Hardware includes. */
#include <board.h>
#include <pio/pio.h>
#include <pio/pio_it.h>
#include <pit/pit.h>
#include <aic/aic.h>
#include <tc/tc.h>
#include <utility/led.h>
#include <utility/trace.h>

/*-----------------------------------------------------------*/

/* Constants required to setup the initial stack. */
#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 )

/* Constants required to setup the PIT. */
#define port1MHz_IN_Hz                  ( 1000000ul )
#define port1SECOND_IN_uS               ( 1000000.0 )

/* Constants required to handle critical sections. */
#define portNO_CRITICAL_NESTING         ( ( uint32_t ) 0 )


#define portINT_LEVEL_SENSITIVE  0
#define portPIT_ENABLE          ( ( uint16_t ) 0x1 << 24 )
#define portPIT_INT_ENABLE      ( ( uint16_t ) 0x1 << 25 )
/*-----------------------------------------------------------*/

/* Setup the PIT to generate the tick interrupts. */
static void prvSetupTimerInterrupt(void);

/* The PIT interrupt handler - the RTOS tick. */
static void vPortTickISR(void);

/* ulCriticalNesting will get set to zero when the first task starts.  It
cannot be initialised to 0 as this will cause interrupts to be enabled
during the kernel initialisation process. */
uint32_t ulCriticalNesting = (uint32_t) 9999;

/*-----------------------------------------------------------*/

/*
 * 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) 0xaaaaaaaa;    /* 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 status register is set for system mode, with interrupts enabled. */
    *pxTopOfStack = (StackType_t) portINITIAL_SPSR;

#ifdef THUMB_INTERWORK
    {
        /* We want the task to start in thumb mode. */
        *pxTopOfStack |= portTHUMB_MODE_BIT;
    }
#endif

    pxTopOfStack--;

    /* 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_NESTING;

    return pxTopOfStack;
}
/*-----------------------------------------------------------*/

BaseType_t xPortStartScheduler(void)
{
    extern void vPortStartFirstTask(void);

    /* Start the timer that generates the tick ISR.  Interrupts are disabled
    here already. */
    prvSetupTimerInterrupt();

    /* Start the first task. */
    vPortStartFirstTask();

    /* 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.  */
}
/*-----------------------------------------------------------*/

static __arm void vPortTickISR(void)
{
    volatile uint32_t ulDummy;

    /* Increment the tick count - which may wake some tasks but as the
    preemptive scheduler is not being used any woken task is not given
    processor time no matter what its priority. */
    if (xTaskIncrementTick() != pdFALSE)
    {
        vTaskSwitchContext();
    }

    /* Clear the PIT interrupt. */
    ulDummy = AT91C_BASE_PITC->PITC_PIVR;

    /* To remove compiler warning. */
    (void) ulDummy;

    /* The AIC is cleared in the asm wrapper, outside of this function. */
}
/*-----------------------------------------------------------*/

static void prvSetupTimerInterrupt(void)
{
    const uint32_t ulPeriodIn_uS = (1.0 / (double) configTICK_RATE_HZ) * port1SECOND_IN_uS;

    /* Setup the PIT for the required frequency. */
    PIT_Init(ulPeriodIn_uS, BOARD_MCK / port1MHz_IN_Hz);

    /* Setup the PIT interrupt. */
    AIC_DisableIT(AT91C_ID_SYS);
    AIC_ConfigureIT(AT91C_ID_SYS, AT91C_AIC_PRIOR_LOWEST, vPortTickISR);
    AIC_EnableIT(AT91C_ID_SYS);
    PIT_EnableIT();
}
/*-----------------------------------------------------------*/

void vPortEnterCritical(void)
{
    /* Disable interrupts first! */
    __disable_irq();

    /* Now interrupts are disabled ulCriticalNesting can be accessed
    directly.  Increment ulCriticalNesting to keep a count of how many times
    portENTER_CRITICAL() has been called. */
    ulCriticalNesting++;
}
/*-----------------------------------------------------------*/

void vPortExitCritical(void)
{
    if (ulCriticalNesting > portNO_CRITICAL_NESTING)
    {
        /* Decrement the nesting count as we are leaving a critical section. */
        ulCriticalNesting--;

        /* If the nesting level has reached zero then interrupts should be
        re-enabled. */
        if (ulCriticalNesting == portNO_CRITICAL_NESTING)
        {
            __enable_irq();
        }
    }
}
/*-----------------------------------------------------------*/






