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/*

    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.

    ***************************************************************************

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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 exception 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.

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*/

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

 * Implementation of functions defined in portable.h for the ARM7 port.

 *

 * Components that can be compiled to either ARM or THUMB mode are

 * contained in this file.  The ISR routines, which can only be compiled

 * to ARM mode are contained in portISR.c.

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

/* Standard includes. */

#include <stdlib.h>

/* Scheduler includes. */

#include "FreeRTOS.h"

#include "task.h"

/* Constants required to setup the task context. */

#define portINITIAL_SPSR                                ( ( portSTACK_TYPE ) 0x1f ) /* System mode, ARM mode, interrupts enabled. */

#define portTHUMB_MODE_BIT                              ( ( portSTACK_TYPE ) 0x20 )

#define portINSTRUCTION_SIZE                    ( ( portSTACK_TYPE ) 4 )

#define portNO_CRITICAL_SECTION_NESTING ( ( portSTACK_TYPE ) 0 )

/* Constants required to setup the tick ISR. */

#define portENABLE_TIMER                ( ( unsigned portCHAR ) 0x01 )

#define portPRESCALE_VALUE              0x00

#define portINTERRUPT_ON_MATCH          ( ( unsigned portLONG ) 0x01 )

#define portRESET_COUNT_ON_MATCH        ( ( unsigned portLONG ) 0x02 )

/* Constants required to setup the VIC for the tick ISR. */

#define portTIMER_VIC_CHANNEL           ( ( unsigned portLONG ) 0x0004 )

#define portTIMER_VIC_CHANNEL_BIT       ( ( unsigned portLONG ) 0x0010 )

#define portTIMER_VIC_ENABLE            ( ( unsigned portLONG ) 0x0020 )

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

/* Setup the timer to generate the tick interrupts. */

static void prvSetupTimerInterrupt( void );

/*

 * The scheduler can only be started from ARM mode, so

 * vPortISRStartFirstSTask() is defined in portISR.c.

 */

extern void vPortISRStartFirstTask( void );

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

/*

 * Initialise the stack of a task to look exactly as if a call to

 * portSAVE_CONTEXT had been called.

 *

 * See header file for description.

 */

portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE pxCode, void *pvParameters )

{

portSTACK_TYPE *pxOriginalTOS;

        pxOriginalTOS = 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 = ( portSTACK_TYPE ) pxCode + portINSTRUCTION_SIZE;

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x00000000;  /* R14 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) pxOriginalTOS; /* Stack used when task starts goes in R13. */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x12121212;  /* R12 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x11111111;  /* R11 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x10101010;  /* R10 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x09090909;  /* R9 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x08080808;  /* R8 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x07070707;  /* R7 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x06060606;  /* R6 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x05050505;  /* R5 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x04040404;  /* R4 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x03030303;  /* R3 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x02020202;  /* R2 */

        pxTopOfStack--;

        *pxTopOfStack = ( portSTACK_TYPE ) 0x01010101;  /* R1 */

        pxTopOfStack--;

        /* When the task starts is will expect to find the function parameter in

        R0. */

        *pxTopOfStack = ( portSTACK_TYPE ) pvParameters; /* R0 */

        pxTopOfStack--;

        /* The last thing onto the stack is the status register, which is set for

        system mode, with interrupts enabled. */

        *pxTopOfStack = ( portSTACK_TYPE ) portINITIAL_SPSR;

        if( ( ( unsigned long ) pxCode & 0x01UL ) != 0x00 )

        {

                /* We want the task to start in thumb mode. */

                *pxTopOfStack |= portTHUMB_MODE_BIT;

        }

        pxTopOfStack--;

        /* Some optimisation levels use the stack differently to others.  This

        means the 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_SECTION_NESTING;

        return pxTopOfStack;

}

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

portBASE_TYPE xPortStartScheduler( void )

{

        /* Start the timer that generates the tick ISR.  Interrupts are disabled

        here already. */

        prvSetupTimerInterrupt();

        /* Start the first task. */

        vPortISRStartFirstTask();

        /* 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.  */

}

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

/*

 * Setup the timer 0 to generate the tick interrupts at the required frequency.

 */

static void prvSetupTimerInterrupt( void )

{

unsigned portLONG ulCompareMatch;

        PCLKSEL0 = (PCLKSEL0 & (~(0x3<<2))) | (0x01 << 2);

        T0TCR  = 2;         /* Stop and reset the timer */

        T0CTCR = 0;         /* Timer mode               */

        /* A 1ms tick does not require the use of the timer prescale.  This is

        defaulted to zero but can be used if necessary. */

        T0PR = portPRESCALE_VALUE;

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

        ulCompareMatch = configCPU_CLOCK_HZ / 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

        T0MR1 = ulCompareMatch;

        /* Generate tick with timer 0 compare match. */

        T0MCR  = (3 << 3);  /* Reset timer on match and generate interrupt */

        /* Setup the VIC for the timer. */

        VICIntEnable = 0x00000010;

        /* The ISR installed depends on whether the preemptive or cooperative

        scheduler is being used. */

        #if configUSE_PREEMPTION == 1

        {

                extern void ( vPreemptiveTick )( void );

                VICVectAddr4 = ( portLONG ) vPreemptiveTick;

        }

        #else

        {

                extern void ( vNonPreemptiveTick )( void );

                VICVectAddr4 = ( portLONG ) vNonPreemptiveTick;

        }

        #endif

        VICVectCntl4 = 1;

        /* Start the timer - interrupts are disabled when this function is called

        so it is okay to do this here. */

        T0TCR = portENABLE_TIMER;

}

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