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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.

    1 tab == 4 spaces!

    http://www.FreeRTOS.org - Documentation, latest information, license and

    contact details.

    http://www.SafeRTOS.com - A version that is certified for use in safety

    critical systems.

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    licensing and training services.

*/

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

 * Implementation of functions defined in portable.h for the NIOS2 port.

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

/* Standard Includes. */

#include <string.h>

#include <errno.h>

/* Altera includes. */

#include "sys/alt_irq.h"

#include "altera_avalon_timer_regs.h"

#include "priv/alt_irq_table.h"

/* Scheduler includes. */

#include "FreeRTOS.h"

#include "task.h"

/* Interrupts are enabled. */

#define portINITIAL_ESTATUS     ( portSTACK_TYPE ) 0x01 

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

/*

 * Setup the timer to generate the tick interrupts.

 */

static void prvSetupTimerInterrupt( void );

/*

 * Call back for the alarm function.

 */

void vPortSysTickHandler( void * context, alt_u32 id );

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

void prvReadGp( unsigned long *ulValue )

{

        asm( "stw gp, (r4) " );

};

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

/*

 * See header file for description.

 */

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

{

portSTACK_TYPE *pxFramePointer = pxTopOfStack - 1;

portSTACK_TYPE xGlobalPointer;

    prvReadGp( &xGlobalPointer );

    /* End of stack marker. */

    *pxTopOfStack = 0xdeadbeef;

    pxTopOfStack--;

    *pxTopOfStack = ( portSTACK_TYPE ) pxFramePointer;

    pxTopOfStack--;

    *pxTopOfStack = xGlobalPointer;

    /* Space for R23 to R16. */

    pxTopOfStack -= 9;

    *pxTopOfStack = ( portSTACK_TYPE ) pxCode;

    pxTopOfStack--;

    *pxTopOfStack = portINITIAL_ESTATUS;

    /* Space for R15 to R5. */

    pxTopOfStack -= 12;

    *pxTopOfStack = ( portSTACK_TYPE ) pvParameters;

    /* Space for R3 to R1, muldiv and RA. */

    pxTopOfStack -= 5;

    return pxTopOfStack;

}

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

/*

 * See header file for description.

 */

portBASE_TYPE xPortStartScheduler( void )

{

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

        here already. */

        prvSetupTimerInterrupt();

        /* Start the first task. */

    asm volatile (  " movia r2, restore_sp_from_pxCurrentTCB        \n"

                    " jmp r2                                          " );

        /* Should not get here! */

        return 0;

}

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

void vPortEndScheduler( void )

{

        /* It is unlikely that the NIOS2 port will require this function as there

        is nothing to return to.  */

}

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

/*

 * Setup the systick timer to generate the tick interrupts at the required

 * frequency.

 */

void prvSetupTimerInterrupt( void )

{

        /* Try to register the interrupt handler. */

        if ( -EINVAL == alt_irq_register( SYS_CLK_IRQ, 0x0, vPortSysTickHandler ) )

        {

                /* Failed to install the Interrupt Handler. */

                asm( "break" );

        }

        else

        {

                /* Configure SysTick to interrupt at the requested rate. */

                IOWR_ALTERA_AVALON_TIMER_CONTROL( SYS_CLK_BASE, ALTERA_AVALON_TIMER_CONTROL_STOP_MSK );

                IOWR_ALTERA_AVALON_TIMER_PERIODL( SYS_CLK_BASE, ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) & 0xFFFF );

                IOWR_ALTERA_AVALON_TIMER_PERIODH( SYS_CLK_BASE, ( configCPU_CLOCK_HZ / configTICK_RATE_HZ ) >> 16 );

                IOWR_ALTERA_AVALON_TIMER_CONTROL( SYS_CLK_BASE, ALTERA_AVALON_TIMER_CONTROL_CONT_MSK | ALTERA_AVALON_TIMER_CONTROL_START_MSK | ALTERA_AVALON_TIMER_CONTROL_ITO_MSK );

        }

        /* Clear any already pending interrupts generated by the Timer. */

        IOWR_ALTERA_AVALON_TIMER_STATUS( SYS_CLK_BASE, ~ALTERA_AVALON_TIMER_STATUS_TO_MSK );

}

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

void vPortSysTickHandler( void * context, alt_u32 id )

{

        /* Increment the Kernel Tick. */

        vTaskIncrementTick();

        /* If using preemption, also force a context switch. */

        #if configUSE_PREEMPTION == 1

        vTaskSwitchContext();

        #endif

        /* Clear the interrupt. */

        IOWR_ALTERA_AVALON_TIMER_STATUS( SYS_CLK_BASE, ~ALTERA_AVALON_TIMER_STATUS_TO_MSK );

}

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

/** This function is a re-implementation of the Altera provided function.

 * The function is re-implemented to prevent it from enabling an interrupt

 * when it is registered. Interrupts should only be enabled after the FreeRTOS.org

 * kernel has its scheduler started so that contexts are saved and switched

 * correctly.

 */

int alt_irq_register( alt_u32 id, void* context, void (*handler)(void*, alt_u32) )

{

        int rc = -EINVAL;

        alt_irq_context status;

        if (id < ALT_NIRQ)

        {

                /*

                 * interrupts are disabled while the handler tables are updated to ensure

                 * that an interrupt doesn't occur while the tables are in an inconsistent

                 * state.

                 */

                status = alt_irq_disable_all ();

                alt_irq[id].handler = handler;

                alt_irq[id].context = context;

                rc = (handler) ? alt_irq_enable (id): alt_irq_disable (id);

                /* alt_irq_enable_all(status); This line is removed to prevent the interrupt from being immediately enabled. */

        }

        return rc;

}

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