/*
    FreeRTOS V8.2.3 - Copyright (C) 2015 Real Time Engineers Ltd.
    All rights reserved

    VISIT http://www.FreeRTOS.org TO ENSURE YOU ARE USING THE LATEST VERSION.

    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 on the following
    link: http://www.freertos.org/a00114.html

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS provides completely free yet professionally developed,    *
     *    robust, strictly quality controlled, supported, and cross          *
     *    platform software that is more than just the market leader, it     *
     *    is the industry's de facto standard.                               *
     *                                                                       *
     *    Help yourself get started quickly while simultaneously helping     *
     *    to support the FreeRTOS project by purchasing a FreeRTOS           *
     *    tutorial book, reference manual, or both:                          *
     *    http://www.FreeRTOS.org/Documentation                              *
     *                                                                       *
    ***************************************************************************

    http://www.FreeRTOS.org/FAQHelp.html - Having a problem?  Start by reading
    the FAQ page "My application does not run, what could be wrong?".  Have you
    defined configASSERT()?

    http://www.FreeRTOS.org/support - In return for receiving this top quality
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    FreeRTOS training directly from Richard Barry, CEO of Real Time Engineers
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    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
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    http://www.OpenRTOS.com - Real Time Engineers ltd. license FreeRTOS to High
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    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
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    1 tab == 4 spaces!
*/


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

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

/* Nuvoton includes. */
#include "wblib.h"

/* Constants required to setup the initial 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 )

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

/* The code generated by the Keil compiler does not maintain separate
stack and frame pointers. The portENTER_CRITICAL macro cannot therefore
use the stack as per other ports.  Instead a variable is used to keep
track of the critical section nesting.  This variable has to be stored
as part of the task context and must be initialised to a non zero value. */

#define portNO_CRITICAL_NESTING		( ( uint32_t ) 0 )
volatile uint32_t ulCriticalNesting = 9999UL;

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

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

/* 
 * The scheduler can only be started from ARM mode, so 
 * vPortStartFirstSTask() is defined in portISR.c. 
 */
extern __asm void vPortStartFirstTask( void );

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

/* 
 * See header file for description. 
 */
StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
{
StackType_t *pxOriginalTOS;

	/* Setup the initial stack of the task.  The stack is set exactly as 
	expected by the portRESTORE_CONTEXT() macro.

	Remember where the top of the (simulated) stack is before we place 
	anything on it. */
	pxOriginalTOS = pxTopOfStack;
	
	/* To ensure asserts in tasks.c don't fail, although in this case the assert
	is not really required. */
	pxTopOfStack--;

	/* 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--;	
	*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 ) != 0x00UL )
	{
		/* We want the task to start in thumb mode. */
		*pxTopOfStack |= portTHUMB_MODE_BIT;
	}

	pxTopOfStack--;

	/* The code generated by the Keil compiler does not maintain separate
	stack and frame pointers. The portENTER_CRITICAL macro cannot therefore
	use the stack as per other ports.  Instead a variable is used to keep
	track of the critical section nesting.  This variable has to be stored
	as part of the task context and is initially set to zero. */
	*pxTopOfStack = portNO_CRITICAL_SECTION_NESTING;

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

BaseType_t xPortStartScheduler( void )
{
	/* Start the timer that generates the tick ISR. */
	prvSetupTimerInterrupt();

	/* Start the first task.  This is done from portISR.c as ARM mode must be
	used. */
	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.  If this is required - stop the tick ISR then
	return back to main. */
}
/*-----------------------------------------------------------*/

#if configUSE_PREEMPTION == 0

	/* 
	 * The cooperative scheduler requires a normal IRQ service routine to 
	 * simply increment the system tick. 
	 */
	void vNonPreemptiveTick( void ) __irq;
	void vNonPreemptiveTick( void ) __irq
	{
		UINT32 volatile _mIPER, _mISNR;

		/* Increment the tick count - this may make a delaying task ready
		to run - but a context switch is not performed. */		
		xTaskIncrementTick();

		_mIPER = inpw(REG_AIC_IPER);
		_mISNR = inpw(REG_AIC_ISNR);
		if (_mISNR != IRQ_TMR1)
			sysIrqHandler(_mIPER, _mISNR);

		// clear TIF1
		outpw(REG_TISR, TIF1);
		// Acknowledge the Interrupt
		outpw(REG_AIC_EOSCR, 0x01);
	}

 #else

	/*
	 **************************************************************************
	 * The preemptive scheduler ISR is written in assembler and can be found   
	 * in the portASM.s file. This will only get used if portUSE_PREEMPTION
	 * is set to 1 in portmacro.h
	 ************************************************************************** 
	 */

	void vPreemptiveTick( void );

#endif
/*-----------------------------------------------------------*/

static void prvSetupTimerInterrupt( void )
{
uint32_t ulCompareMatch;

	// enable the Timer 1 clock
	outp32(REG_APBCLK, inp32(REG_APBCLK) | TMR1_CKE);
	outp32(REG_APBIPRST, inp32(REG_APBIPRST) | TMR1RST);
	outp32(REG_APBIPRST, inp32(REG_APBIPRST) & ~TMR1RST);

	/* Calculate the match value required for our wanted tick rate. */
	ulCompareMatch = EXTERNAL_CRYSTAL_CLOCK / 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

	/* Setup the AIC for the timer. */
	#if 0
	/* The ISR installed depends on whether the preemptive or cooperative
	scheduler is being used. */
	#if configUSE_PREEMPTION == 1
	{	
		sysInstallISR(IRQ_LEVEL_1, IRQ_TMR1, (PVOID)vPreemptiveTick);
	}
	#else
	{
		sysInstallISR(IRQ_LEVEL_1, IRQ_TMR1, (PVOID)vNonPreemptiveTick);
	}
	#endif
	#endif
	sysEnableInterrupt(IRQ_TMR1);

	outpw(REG_TICR1, ulCompareMatch);
	outpw(REG_TCSR1, (inpw(REG_TCSR1) & 0x87FFFF00) | (0xD << 27));		// 0xC means CEN and IE were enable
}
/*-----------------------------------------------------------*/

void vPortEnterCritical( void )
{
	/* Disable interrupts as per portDISABLE_INTERRUPTS(); 							*/
	__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 interrupts as per portEXIT_CRITICAL(). */
			__enable_irq();
		}
	}
}
/*-----------------------------------------------------------*/


