/*
 * FreeRTOS V202212.00
 * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy of
 * this software and associated documentation files (the "Software"), to deal in
 * the Software without restriction, including without limitation the rights to
 * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
 * the Software, and to permit persons to whom the Software is furnished to do so,
 * subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
 * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
 * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
 * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
 * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
 *
 * https://www.FreeRTOS.org
 * https://github.com/FreeRTOS
 *
 */

/******************************************************************************
 * This project provides two demo applications.  A simple blinky style project,
 * and a more comprehensive test and demo application.  The
 * mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting (defined in this file) is used to
 * select between the two.  The simply blinky demo is implemented and described
 * in main_blinky.c.  The more comprehensive test and demo application is
 * implemented and described in main_full.c.
 *
 * This file implements the code that is not demo specific, including the
 * hardware setup and standard FreeRTOS hook functions.
 *
 * When running on the PolarFire SoC hardware:
 * When executing correctly the yellow LED will toggle every three seconds.  If
 * the yellow LED toggles every 500ms then one of the self-monitoring test tasks
 * discovered a potential issue.  If the red led toggles rapidly then a hardware
 * exception occurred.
 *
 * ENSURE TO READ THE DOCUMENTATION PAGE FOR THIS PORT AND DEMO APPLICATION ON
 * THE http://www.FreeRTOS.org WEB SITE FOR FULL INFORMATION ON USING THIS DEMO
 * APPLICATION, AND ITS ASSOCIATE FreeRTOS ARCHITECTURE PORT!
 *
 */

/* FreeRTOS kernel includes. */
#include <FreeRTOS.h>
#include <task.h>

/* PolarFire HAL includes. */
#include "mpfs_hal/mss_hal.h"
#include "drivers/mss/mss_gpio/mss_gpio.h"
#include "drivers/mss/mss_mmuart/mss_uart.h"

/* Set mainCREATE_SIMPLE_BLINKY_DEMO_ONLY to one to run the simple blinky demo,
or 0 to run the more comprehensive test and demo application. */
#define mainCREATE_SIMPLE_BLINKY_DEMO_ONLY  0

/* Set to 1 to use direct mode and set to 0 to use vectored mode.

VECTOR MODE=Direct --> all traps into machine mode cause the pc to be set to the
vector base address (BASE) in the mtvec register.

VECTOR MODE=Vectored --> all synchronous exceptions into machine mode cause the
pc to be set to the BASE, whereas interrupts cause the pc to be set to the
address BASE plus four times the interrupt cause number.
*/
#define mainVECTOR_MODE_DIRECT	0

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

extern void freertos_risc_v_trap_handler( void );
extern void freertos_vector_table( void );

/*
 * main_blinky() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 1.
 * main_full() is used when mainCREATE_SIMPLE_BLINKY_DEMO_ONLY is set to 0.
 */
#if ( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
    extern void main_blinky( void );
#else
    extern void main_full( void );
#endif /* #if mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 */

/*
 * Prototypes for the standard FreeRTOS callback/hook functions implemented
 * within this file.  See https://www.freertos.org/a00016.html
 */
void vApplicationMallocFailedHook( void );
void vApplicationIdleHook( void );
void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName );
void vApplicationTickHook( void );

/*
 * Setup the hardware to run this demo.
 */
static void prvSetupHardware( void );

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

/* Main function for the HART0(E51 processor). Application code running on
 * HART0 is placed here. */
void e51( void )
{
    prvSetupHardware();

    /* The mainCREATE_SIMPLE_BLINKY_DEMO_ONLY setting is described at the top
     * of this file. */
    #if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY == 1 )
    {
        main_blinky();
    }
    #else
    {
        main_full();
    }
    #endif
}
/*-----------------------------------------------------------*/

static void prvSetupHardware( void )
{
    /* Configure UART0. */
    SYSREG->SUBBLK_CLOCK_CR |= SUBBLK_CLOCK_CR_MMUART0_MASK;
    SYSREG->SOFT_RESET_CR   &= ~SOFT_RESET_CR_MMUART0_MASK;
    MSS_UART_init( &( g_mss_uart0_lo ),
                   MSS_UART_115200_BAUD,
                   MSS_UART_DATA_8_BITS | MSS_UART_NO_PARITY | MSS_UART_ONE_STOP_BIT );

    /* Configure the LED. */
    mss_config_clk_rst( MSS_PERIPH_GPIO2, ( uint8_t )MPFS_HAL_FIRST_HART, PERIPHERAL_ON );
    MSS_GPIO_config( GPIO2_LO, MSS_GPIO_16, MSS_GPIO_OUTPUT_MODE ); /* Red Led (LED1). */
    MSS_GPIO_config( GPIO2_LO, MSS_GPIO_18, MSS_GPIO_OUTPUT_MODE ); /* Yellow Led (LED3). */

    #if( mainVECTOR_MODE_DIRECT == 1 )
	{
		__asm__ volatile( "csrw mtvec, %0" :: "r"( freertos_risc_v_trap_handler ) );
	}
	#else
	{
		__asm__ volatile( "csrw mtvec, %0" :: "r"( ( uintptr_t )freertos_vector_table | 0x1 ) );
	}
	#endif
}
/*-----------------------------------------------------------*/

void vApplicationMallocFailedHook( void )
{
    /* vApplicationMallocFailedHook() will only be called if
     * configUSE_MALLOC_FAILED_HOOK is set to 1 in FreeRTOSConfig.h.  It is a hook
     * function that will get called if a call to pvPortMalloc() fails.
     * pvPortMalloc() is called internally by the kernel whenever a task, queue,
     * timer or semaphore is created.  It is also called by various parts of the
     * demo application.  If heap_1.c or heap_2.c are used, then the size of the
     * heap available to pvPortMalloc() is defined by configTOTAL_HEAP_SIZE in
     * FreeRTOSConfig.h, and the xPortGetFreeHeapSize() API function can be used
     * to query the size of free heap space that remains (although it does not
     * provide information on how the remaining heap might be fragmented). */
    taskDISABLE_INTERRUPTS();
    for( ;; );
}
/*-----------------------------------------------------------*/

void vApplicationIdleHook( void )
{
    /* vApplicationIdleHook() will only be called if configUSE_IDLE_HOOK is set
     * to 1 in FreeRTOSConfig.h.  It will be called on each iteration of the idle
     * task.  It is essential that code added to this hook function never attempts
     * to block in any way (for example, call xQueueReceive() with a block time
     * specified, or call vTaskDelay()).  If the application makes use of the
     * vTaskDelete() API function (as this demo application does) then it is also
     * important that vApplicationIdleHook() is permitted to return to its calling
     * function, because it is the responsibility of the idle task to clean up
     * memory allocated by the kernel to any task that has since been deleted. */
}
/*-----------------------------------------------------------*/

void vApplicationStackOverflowHook( TaskHandle_t pxTask, char *pcTaskName )
{
    ( void ) pcTaskName;
    ( void ) pxTask;

    /* Run time stack overflow checking is performed if
     * configCHECK_FOR_STACK_OVERFLOW is defined to 1 or 2.  This hook
     * function is called if a stack overflow is detected. */
    taskDISABLE_INTERRUPTS();
    for( ;; );
}
/*-----------------------------------------------------------*/

void vApplicationTickHook( void )
{
    /* The tests in the full demo expect some interaction with interrupts. */
    #if( mainCREATE_SIMPLE_BLINKY_DEMO_ONLY != 1 )
    {
        extern void vFullDemoTickHook( void );
        vFullDemoTickHook();
    }
    #endif
}
/*-----------------------------------------------------------*/

void vToggleLED( void )
{
static volatile uint8_t value = 0u;

    value = ( value == 0u ) ? 1u : 0u;
    MSS_GPIO_set_output( GPIO2_LO, MSS_GPIO_18, value );
}
/*-----------------------------------------------------------*/

void vAssertCalled( void )
{
volatile uint32_t ul;
const uint32_t ulNullLoopDelay = 0x1ffffUL;
static volatile uint8_t value = 0u;

    taskDISABLE_INTERRUPTS();

    /* Flash the red LED to indicate that assert was hit - interrupts are off
     * here to prevent any further tick interrupts or context switches, so the
     * delay is implemented as a crude loop instead of a peripheral timer. */
    for( ;; )
    {
        for( ul = 0; ul < ulNullLoopDelay; ul++ )
        {
            __asm volatile( "nop" );
        }

        value = ( value == 0u ) ? 1u : 0u;
        MSS_GPIO_set_output( GPIO2_LO, MSS_GPIO_16, value );
    }
}
/*-----------------------------------------------------------*/