/*
    FreeRTOS V7.3.0 - Copyright (C) 2012 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.

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS tutorial books are available in pdf and paperback.        *
     *    Complete, revised, and edited pdf reference manuals are also       *
     *    available.                                                         *
     *                                                                       *
     *    Purchasing FreeRTOS documentation will not only help you, by       *
     *    ensuring you get running as quickly as possible and with an        *
     *    in-depth knowledge of how to use FreeRTOS, it will also help       *
     *    the FreeRTOS project to continue with its mission of providing     *
     *    professional grade, cross platform, de facto standard solutions    *
     *    for microcontrollers - completely free of charge!                  *
     *                                                                       *
     *    >>> See http://www.FreeRTOS.org/Documentation for details. <<<     *
     *                                                                       *
     *    Thank you for using FreeRTOS, and thank you for your support!      *
     *                                                                       *
    ***************************************************************************


    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.  See the GNU General Public License for
    more details. You should have received a copy of the GNU General Public
    License 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 Richard Barry, 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?"                                     *
     *                                                                       *
     *    http://www.FreeRTOS.org/FAQHelp.html                               *
     *                                                                       *
    ***************************************************************************

    
    http://www.FreeRTOS.org - Documentation, training, latest versions, license 
    and contact details.  
    
    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
    including FreeRTOS+Trace - an indispensable productivity tool.

    Real Time Engineers ltd license FreeRTOS to High Integrity Systems, who sell 
    the code with commercial support, indemnification, and middleware, under 
    the OpenRTOS brand: http://www.OpenRTOS.com.  High Integrity Systems also
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    the SafeRTOS brand: http://www.SafeRTOS.com.
*/


/*-----------------------------------------------------------
 * Components that can be compiled to either ARM or THUMB mode are
 * contained in port.c  The ISR routines, which can only be compiled
 * to ARM mode, are contained in this file.
 *----------------------------------------------------------*/

/*
	Changes from V2.5.2
		
	+ The critical section management functions have been changed.  These no
	  longer modify the stack and are safe to use at all optimisation levels.
	  The functions are now also the same for both ARM and THUMB modes.

	Changes from V2.6.0

	+ Removed the 'static' from the definition of vNonPreemptiveTick() to 
	  allow the demo to link when using the cooperative scheduler.

	Changes from V3.2.4

	+ The assembler statements are now included in a single asm block rather
	  than each line having its own asm block.
*/


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

/* Constants required to handle interrupts. */
#define portTIMER_MATCH_ISR_BIT		( ( unsigned char ) 0x01 )
#define portCLEAR_VIC_INTERRUPT		( ( unsigned long ) 0 )

/* Constants required to handle critical sections. */
#define portNO_CRITICAL_NESTING		( ( unsigned long ) 0 )
volatile unsigned long ulCriticalNesting = 9999UL;

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

/* ISR to handle manual context switches (from a call to taskYIELD()). */
void vPortYieldProcessor( void ) __attribute__((interrupt("SWI"), naked));

/* 
 * The scheduler can only be started from ARM mode, hence the inclusion of this
 * function here.
 */
void vPortISRStartFirstTask( void );
/*-----------------------------------------------------------*/

void vPortISRStartFirstTask( void )
{
	/* Simply start the scheduler.  This is included here as it can only be
	called from ARM mode. */
	portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/

/*
 * Called by portYIELD() or taskYIELD() to manually force a context switch.
 *
 * When a context switch is performed from the task level the saved task 
 * context is made to look as if it occurred from within the tick ISR.  This
 * way the same restore context function can be used when restoring the context
 * saved from the ISR or that saved from a call to vPortYieldProcessor.
 */
void vPortYieldProcessor( void )
{
	/* Within an IRQ ISR the link register has an offset from the true return 
	address, but an SWI ISR does not.  Add the offset manually so the same 
	ISR return code can be used in both cases. */
	__asm volatile ( "ADD		LR, LR, #4" );

	/* Perform the context switch.  First save the context of the current task. */
	portSAVE_CONTEXT();

	/* Find the highest priority task that is ready to run. */
	__asm volatile ( "bl vTaskSwitchContext" );

	/* Restore the context of the new task. */
	portRESTORE_CONTEXT();	
}
/*-----------------------------------------------------------*/

/* 
 * The ISR used for the scheduler tick.
 */
void vTickISR( void ) __attribute__((naked));
void vTickISR( void )
{
	/* Save the context of the interrupted task. */
	portSAVE_CONTEXT();	

	/* Increment the RTOS tick count, then look for the highest priority 
	task that is ready to run. */
	__asm volatile( "bl vTaskIncrementTick" );

	#if configUSE_PREEMPTION == 1
		__asm volatile( "bl vTaskSwitchContext" );
	#endif

	/* Ready for the next interrupt. */
	T0_IR = portTIMER_MATCH_ISR_BIT;
	VICVectAddr = portCLEAR_VIC_INTERRUPT;
	
	/* Restore the context of the new task. */
	portRESTORE_CONTEXT();
}
/*-----------------------------------------------------------*/

/*
 * The interrupt management utilities can only be called from ARM mode.  When
 * THUMB_INTERWORK is defined the utilities are defined as functions here to
 * ensure a switch to ARM mode.  When THUMB_INTERWORK is not defined then
 * the utilities are defined as macros in portmacro.h - as per other ports.
 */
#ifdef THUMB_INTERWORK

	void vPortDisableInterruptsFromThumb( void ) __attribute__ ((naked));
	void vPortEnableInterruptsFromThumb( void ) __attribute__ ((naked));

	void vPortDisableInterruptsFromThumb( void )
	{
		__asm volatile ( 
			"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/
			"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/
			"ORR	R0, R0, #0xC0	\n\t"	/* Disable IRQ, FIQ.						*/
			"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/
			"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
			"BX		R14" );					/* Return back to thumb.					*/
	}
			
	void vPortEnableInterruptsFromThumb( void )
	{
		__asm volatile ( 
			"STMDB	SP!, {R0}		\n\t"	/* Push R0.									*/	
			"MRS	R0, CPSR		\n\t"	/* Get CPSR.								*/	
			"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.							*/	
			"MSR	CPSR, R0		\n\t"	/* Write back modified value.				*/	
			"LDMIA	SP!, {R0}		\n\t"	/* Pop R0.									*/
			"BX		R14" );					/* Return back to thumb.					*/
	}

#endif /* THUMB_INTERWORK */

/* The code generated by the GCC compiler uses the stack in different ways at
different optimisation levels.  The interrupt flags can therefore not always
be saved to the stack.  Instead the critical section nesting level is stored
in a variable, which is then saved as part of the stack context. */
void vPortEnterCritical( void )
{
	/* Disable interrupts as per portDISABLE_INTERRUPTS(); 							*/
	__asm volatile ( 
		"STMDB	SP!, {R0}			\n\t"	/* Push R0.								*/
		"MRS	R0, CPSR			\n\t"	/* Get CPSR.							*/
		"ORR	R0, R0, #0xC0		\n\t"	/* Disable IRQ, FIQ.					*/
		"MSR	CPSR, R0			\n\t"	/* Write back modified value.			*/
		"LDMIA	SP!, {R0}" );				/* Pop R0.								*/

	/* 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 interrupts as per portEXIT_CRITICAL().					*/
			__asm volatile ( 
				"STMDB	SP!, {R0}		\n\t"	/* Push R0.						*/	
				"MRS	R0, CPSR		\n\t"	/* Get CPSR.					*/	
				"BIC	R0, R0, #0xC0	\n\t"	/* Enable IRQ, FIQ.				*/	
				"MSR	CPSR, R0		\n\t"	/* Write back modified value.	*/	
				"LDMIA	SP!, {R0}" );			/* Pop R0.						*/
		}
	}
}
