/*
*********************************************************************************************************
*                                               uC/OS-II
*                                         The Real-Time Kernel
*
*
*                             (c) Copyright 1992-2007, Micrium, Weston, FL
*                                          All Rights Reserved
*
*                                           Generic ARM Port
*
* File      : OS_CPU_C.C
* Version   : V1.82
* By        : Jean J. Labrosse
*             Jean-Denis Hatier
*
* For       : ARM7 or ARM9
* Mode      : ARM or Thumb
* Toolchain : IAR's EWARM V4.11a and higher
*********************************************************************************************************
*/

#define  OS_CPU_GLOBALS
#include <ucos_ii.h>

/*$PAGE*/
/*
*********************************************************************************************************
*                                             LOCAL CONSTANTS
*
* Note(s) : 1) ARM_MODE_ARM is the CPSR bit mask for ARM Mode
*           2) ARM_MODE_THUMB is the CPSR bit mask for THUMB Mode
*           3) ARM_SVC_MODE_THUMB is the CPSR bit mask for SVC MODE + THUMB Mode
*           4) ARM_SVC_MODE_ARM is the CPSR bit mask for SVC MODE + ARM Mode
            5) OS_NTASKS_FP  establishes the number of tasks capable of supporting floating-point.  One
*              task is removed for the idle task because it doesn't do floating-point at all.
*           6) OS_FP_STORAGE_SIZE  currently allocates 1024 bytes of storage in order to accomodate
*              thirty-two, single precision 32 bit, or sixteen double precision 64 bit VFP registers.
*********************************************************************************************************
*/

#define  ARM_MODE_ARM           0x00000000
#define  ARM_MODE_THUMB         0x00000020

#define  ARM_SVC_MODE_THUMB    (0x00000013L + ARM_MODE_THUMB)
#define  ARM_SVC_MODE_ARM      (0x00000013L + ARM_MODE_ARM)

#define  OS_NTASKS_FP          (OS_MAX_TASKS + OS_N_SYS_TASKS - 1)
#define  OS_FP_STORAGE_SIZE            128L

/*
*********************************************************************************************************
*                                          LOCAL VARIABLES
*********************************************************************************************************
*/

#if OS_TMR_EN > 0
static  INT16U  OSTmrCtr;
#endif

#if OS_CPU_FPU_EN > 0
static  OS_MEM  *OSFPPartPtr;                                           /* Pointer to memory partition for storing FPU registers    */
static  INT32U   OSFPPart[OS_NTASKS_FP][OS_FP_STORAGE_SIZE / sizeof(INT32U)];
#endif

/*$PAGE*/
/*
*********************************************************************************************************
*                                        INITIALIZE FP SUPPORT
*
* Description: This function initializes the memory partition used to save FPU registers
*              during a context switch.  This function MUST be called AFTER calling
*              OSInit(). OS_CPU_FPU_EN must be defined > 0 in order to compile FPU support into the
*              build.
*
* Arguments  : none
*
* Returns    : none
*
* Note(s)    : 1) Tasks that are to use FP support MUST be created with OSTaskCreateExt().
*              2) For the ARM VFP, 1024 bytes are required to save the VFP context.
*                 The INT32U data type is used to ensure that storage is aligned on a 32-bit boundary.
*              3) If you need to perform floating point operations from within the OSStatTaskHook(),
*                 then you must change the 'Options' attribute for OSTaskCreatExt() when creating
*                 the statistics task. This only applies if OS_TaskStat() was created with OSTaskCreateExt().
*********************************************************************************************************
*/

#if OS_CPU_FPU_EN > 0
void  OS_CPU_FP_Init (void)
{
    INT8U    err;
#if OS_TASK_STAT_EN && OS_TASK_CREATE_EXT_EN
    OS_TCB  *ptcb;
    void    *pblk;
#endif


    OSFPPartPtr = OSMemCreate(&OSFPPart[0][0], OS_NTASKS_FP, OS_FP_STORAGE_SIZE, &err);

#if OS_TASK_STAT_EN && OS_TASK_CREATE_EXT_EN                            /* CHANGE 'OPTIONS' for OS_TaskStat()                       */
    ptcb            = OSTCBPrioTbl[OS_TASK_STAT_PRIO];
    ptcb->OSTCBOpt |= OS_TASK_OPT_SAVE_FP;                              /* Allow floating-point support for Statistic task          */
    pblk            = OSMemGet(OSFPPartPtr, &err);                      /* Get storage for VFP registers                            */
    if (pblk != (void *)0) {                                            /* Did we get a memory block?                               */
        ptcb->OSTCBExtPtr = pblk;                                       /* Yes, Link to task's TCB                                  */
        OS_CPU_FP_Save(pblk);                                           /*      Save the VFP registers in block                     */
    }
#endif
}
#endif

/*
*********************************************************************************************************
*                                       OS INITIALIZATION HOOK
*                                            (BEGINNING)
*
* Description: This function is called by OSInit() at the beginning of OSInit().
*
* Arguments  : none
*
* Note(s)    : 1) Interrupts should be disabled during this call.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203
void  OSInitHookBegin (void)
{
#if OS_TMR_EN > 0
    OSTmrCtr = 0;
#endif
}
#endif

/*
*********************************************************************************************************
*                                       OS INITIALIZATION HOOK
*                                               (END)
*
* Description: This function is called by OSInit() at the end of OSInit().
*
* Arguments  : none
*
* Note(s)    : 1) Interrupts should be disabled during this call.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203
void  OSInitHookEnd (void)
{
#if OS_CPU_INT_DIS_MEAS_EN > 0
    OS_CPU_IntDisMeasInit();
#endif

#if OS_CPU_FPU_EN > 0
    OS_CPU_FP_Init();                                                   /* Initialize support for VFP register save / restore       */
#endif
}
#endif

/*
*********************************************************************************************************
*                                          TASK CREATION HOOK
*
* Description: This function is called when a task is created.
*
* Arguments  : ptcb   is a pointer to the task control block of the task being created.
*
* Note(s)    : 1) Interrupts are disabled during this call.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0
void  OSTaskCreateHook (OS_TCB *ptcb)
{
#if OS_CPU_FPU_EN > 0
    INT8U  err;
    void  *pblk;
#endif


#if OS_CPU_FPU_EN > 0
    if (ptcb->OSTCBOpt & OS_TASK_OPT_SAVE_FP) {                         /* See if task needs FP support                             */
        pblk = OSMemGet(OSFPPartPtr, &err);                             /* Yes, Get storage for VFP registers                       */
        if (pblk != (void *)0) {                                        /*      Did we get a memory block?                          */
            ptcb->OSTCBExtPtr = pblk;                                   /*      Yes, Link to task's TCB                             */
            OS_CPU_FP_Save(pblk);                                       /*           Save the VFP registers in block                */
        }
    }
#endif

#if OS_APP_HOOKS_EN > 0
    App_TaskCreateHook(ptcb);
#else
    (void)ptcb;                                                         /* Prevent compiler warning                                 */
#endif
}
#endif


/*
*********************************************************************************************************
*                                           TASK DELETION HOOK
*
* Description: This function is called when a task is deleted.
*
* Arguments  : ptcb   is a pointer to the task control block of the task being deleted.
*
* Note(s)    : 1) Interrupts are disabled during this call.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0
void  OSTaskDelHook (OS_TCB *ptcb)
{
#if OS_CPU_FPU_EN > 0
    if (ptcb->OSTCBOpt & OS_TASK_OPT_SAVE_FP) {                         /* See if task had FP support                               */
        if (ptcb->OSTCBExtPtr != (void *)0) {                           /* Yes, OSTCBExtPtr must not be NULL                        */
            OSMemPut(OSFPPartPtr, ptcb->OSTCBExtPtr);                   /*      Return memory block to free pool                    */
        }
    }
#endif

#if OS_APP_HOOKS_EN > 0
    App_TaskDelHook(ptcb);
#else
    (void)ptcb;                                                         /* Prevent compiler warning                                 */
#endif
}
#endif

/*
*********************************************************************************************************
*                                             IDLE TASK HOOK
*
* Description: This function is called by the idle task.  This hook has been added to allow you to do
*              such things as STOP the CPU to conserve power.
*
* Arguments  : none
*
* Note(s)    : 1) Interrupts are enabled during this call.
*********************************************************************************************************
*/
#if OS_CPU_HOOKS_EN > 0 && OS_VERSION >= 251
void  OSTaskIdleHook (void)
{
#if OS_CPU_ARM_DCC_EN > 0
    OSDCC_Handler();
#endif

#if OS_APP_HOOKS_EN > 0
    App_TaskIdleHook();
#endif
}
#endif

/*
*********************************************************************************************************
*                                           STATISTIC TASK HOOK
*
* Description: This function is called every second by uC/OS-II's statistics task.  This allows your
*              application to add functionality to the statistics task.
*
* Arguments  : none
*********************************************************************************************************
*/