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/*
    FreeRTOS V6.1.1 - Copyright (C) 2011 Real Time Engineers Ltd.
 
    ***************************************************************************
    *                                                                         *
    * If you are:                                                             *
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    *                                                                         *
    * then take a look at the FreeRTOS books - available as PDF or paperback  *
    *                                                                         *
    *        "Using the FreeRTOS Real Time Kernel - a Practical Guide"        *
    *                  http://www.FreeRTOS.org/Documentation                  *
    *                                                                         *
    * A pdf reference manual is also available.  Both are usually delivered   *
    * to your inbox within 20 minutes to two hours when purchased between 8am *
    * and 8pm GMT (although please allow up to 24 hours in case of            *
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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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*/
 
/*-----------------------------------------------------------
 * Implementation of functions defined in portable.h for the Atmel ARM7 port.
 *----------------------------------------------------------*/
 
 
/* Standard includes. */
#include <stdlib.h>
 
/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
 
/* Hardware includes. */
#include <board.h>
#include <pio/pio.h>
#include <pio/pio_it.h>
#include <pit/pit.h>
#include <aic/aic.h>
#include <tc/tc.h>
#include <utility/led.h>
#include <utility/trace.h>
 
/*-----------------------------------------------------------*/
 
/* Constants required to setup the initial stack. */
#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 )
 
/* Constants required to setup the PIT. */
#define port1MHz_IN_Hz 					( 1000000ul )
#define port1SECOND_IN_uS				( 1000000.0 )
 
/* Constants required to handle critical sections. */
#define portNO_CRITICAL_NESTING 		( ( unsigned long ) 0 )
 
 
#define portINT_LEVEL_SENSITIVE  0
#define portPIT_ENABLE      	( ( unsigned short ) 0x1 << 24 )
#define portPIT_INT_ENABLE     	( ( unsigned short ) 0x1 << 25 )
/*-----------------------------------------------------------*/
 
/* Setup the PIT to generate the tick interrupts. */
static void prvSetupTimerInterrupt( void );
 
/* The PIT interrupt handler - the RTOS tick. */
static void vPortTickISR( void );
 
/* ulCriticalNesting will get set to zero when the first task starts.  It
cannot be initialised to 0 as this will cause interrupts to be enabled
during the kernel initialisation process. */
unsigned long ulCriticalNesting = ( unsigned long ) 9999;
 
/*-----------------------------------------------------------*/
 
/*
 * 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 ) 0xaaaaaaaa;	/* 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 status register is set for system mode, with interrupts enabled. */
	*pxTopOfStack = ( portSTACK_TYPE ) portINITIAL_SPSR;
 
	#ifdef THUMB_INTERWORK
	{
		/* We want the task to start in thumb mode. */
		*pxTopOfStack |= portTHUMB_MODE_BIT;
	}
	#endif
 
	pxTopOfStack--;
 
	/* 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_NESTING;
 
	return pxTopOfStack;	
}
/*-----------------------------------------------------------*/
 
portBASE_TYPE xPortStartScheduler( void )
{
extern void vPortStartFirstTask( void );
 
	/* Start the timer that generates the tick ISR.  Interrupts are disabled
	here already. */
	prvSetupTimerInterrupt();
 
	/* Start the first task. */
	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.  */
}
/*-----------------------------------------------------------*/
 
static __arm void vPortTickISR( void )
{
volatile unsigned long ulDummy;
 
	/* Increment the tick count - which may wake some tasks but as the
	preemptive scheduler is not being used any woken task is not given
	processor time no matter what its priority. */
	vTaskIncrementTick();
 
	#if configUSE_PREEMPTION == 1
		vTaskSwitchContext();
	#endif	
 
	/* Clear the PIT interrupt. */
	ulDummy = AT91C_BASE_PITC->PITC_PIVR;
 
	/* To remove compiler warning. */
	( void ) ulDummy;
 
	/* The AIC is cleared in the asm wrapper, outside of this function. */
}
/*-----------------------------------------------------------*/
 
static void prvSetupTimerInterrupt( void )
{
const unsigned long ulPeriodIn_uS = ( 1.0 / ( double ) configTICK_RATE_HZ ) * port1SECOND_IN_uS;
 
	/* Setup the PIT for the required frequency. */
	PIT_Init( ulPeriodIn_uS, BOARD_MCK / port1MHz_IN_Hz );
 
	/* Setup the PIT interrupt. */
	AIC_DisableIT( AT91C_ID_SYS );
	AIC_ConfigureIT( AT91C_ID_SYS, AT91C_AIC_PRIOR_LOWEST, vPortTickISR );
	AIC_EnableIT( AT91C_ID_SYS );
	PIT_EnableIT();
}
/*-----------------------------------------------------------*/
 
void vPortEnterCritical( void )
{
	/* Disable interrupts first! */
	__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_irq();
		}
	}
}
/*-----------------------------------------------------------*/