/*
    FreeRTOS V7.5.2 - Copyright (C) 2013 Real Time Engineers Ltd.

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

    ***************************************************************************
     *                                                                       *
     *    FreeRTOS provides completely free yet professionally developed,    *
     *    robust, strictly quality controlled, supported, and cross          *
     *    platform software that has become a de facto standard.             *
     *                                                                       *
     *    Help yourself get started quickly and support the FreeRTOS         *
     *    project by purchasing a FreeRTOS tutorial book, reference          *
     *    manual, or both from: http://www.FreeRTOS.org/Documentation        *
     *                                                                       *
     *    Thank you!                                                         *
     *                                                                       *
    ***************************************************************************

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

    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, books, training, latest versions,
    license and Real Time Engineers Ltd. contact details.

    http://www.FreeRTOS.org/plus - A selection of FreeRTOS ecosystem products,
    including FreeRTOS+Trace - an indispensable productivity tool, a DOS
    compatible FAT file system, and our tiny thread aware UDP/IP stack.

    http://www.OpenRTOS.com - Real Time Engineers ltd license FreeRTOS to High
    Integrity Systems to sell under the OpenRTOS brand.  Low cost OpenRTOS
    licenses offer ticketed support, indemnification and middleware.

    http://www.SafeRTOS.com - High Integrity Systems also provide a safety
    engineered and independently SIL3 certified version for use in safety and
    mission critical applications that require provable dependability.

    1 tab == 4 spaces!
*/

/*-----------------------------------------------------------
 * Implementation of functions defined in portable.h for the ARM CM0 port.
 *----------------------------------------------------------*/

/* IAR includes. */
#include "intrinsics.h"

/* 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 portMIN_INTERRUPT_PRIORITY	( 255UL )
#define portNVIC_PENDSV_PRI			( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI		( portMIN_INTERRUPT_PRIORITY << 24UL )

/* Constants required to set up the initial stack. */
#define portINITIAL_XPSR			( 0x01000000 )

/* For backward compatibility, ensure configKERNEL_INTERRUPT_PRIORITY is
defined.  The value 255 should also ensure backward compatibility.
FreeRTOS.org versions prior to V4.3.0 did not include this definition. */
#ifndef configKERNEL_INTERRUPT_PRIORITY
	#define configKERNEL_INTERRUPT_PRIORITY 0
#endif

/* Each task maintains its own interrupt status in the critical nesting
variable. */
static unsigned portBASE_TYPE uxCriticalNesting = 0xaaaaaaaa;

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

/*
 * Exception handlers.
 */
void xPortSysTickHandler( void );

/*
 * Start first task is a separate function so it can be tested in isolation.
 */
extern void vPortStartFirstTask( void );

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

/*
 * 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. */
	pxTopOfStack--; /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
	*pxTopOfStack = portINITIAL_XPSR;	/* xPSR */
	pxTopOfStack--;
	*pxTopOfStack = ( portSTACK_TYPE ) pxCode;	/* PC */
	pxTopOfStack -= 6;	/* LR, R12, R3..R1 */
	*pxTopOfStack = ( portSTACK_TYPE ) pvParameters;	/* R0 */
	pxTopOfStack -= 8; /* R11..R4. */

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

/*
 * See header file for description.
 */
portBASE_TYPE xPortStartScheduler( void )
{
	/* 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. */
	uxCriticalNesting = 0;

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

	/* Should not get here! */
	return 0;
}
/*-----------------------------------------------------------*/

void vPortEndScheduler( void )
{
	/* It is unlikely that the CM0 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();
	uxCriticalNesting++;
	__DSB();
	__ISB();
}
/*-----------------------------------------------------------*/

void vPortExitCritical( void )
{
	uxCriticalNesting--;
	if( uxCriticalNesting == 0 )
	{
		portENABLE_INTERRUPTS();
	}
}
/*-----------------------------------------------------------*/

void xPortSysTickHandler( void )
{
unsigned long ulDummy;

	ulDummy = portSET_INTERRUPT_MASK_FROM_ISR();
	{
		/* Increment the RTOS tick. */
		if( xTaskIncrementTick() != pdFALSE )
		{
			/* Pend a context switch. */
			*(portNVIC_INT_CTRL) = portNVIC_PENDSVSET;
		}
	}
	portCLEAR_INTERRUPT_MASK_FROM_ISR( ulDummy );
}
/*-----------------------------------------------------------*/

/*
 * Setup the systick timer to generate the tick interrupts at the required
 * frequency.
 */
static 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;
}
/*-----------------------------------------------------------*/

