/*----------------------------------------------------------------------------
 *      CMSIS-RTOS  -  RTX
 *----------------------------------------------------------------------------
 *      Name:    RTX_Conf_CM.C
 *      Purpose: Configuration of CMSIS RTX Kernel
 *      Rev.:    V4.80
 *----------------------------------------------------------------------------
 *
 * Copyright (c) 1999-2009 KEIL, 2009-2015 ARM Germany GmbH
 * All rights reserved.
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *  - Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 *  - Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 *  - Neither the name of ARM  nor the names of its contributors may be used 
 *    to endorse or promote products derived from this software without 
 *    specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL COPYRIGHT HOLDERS AND CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *---------------------------------------------------------------------------*/

#include "cmsis_os.h"

/*----------------------------------------------------------------------------
 *      RTX User configuration part BEGIN
 *---------------------------------------------------------------------------*/

#if defined(MBED_RTOS_SINGLE_THREAD)
#define OS_TASKCNT  1
#define OS_TIMERS   0
#endif

// Include per-target RTX config file
#include "mbed_rtx.h"

//-------- <<< Use Configuration Wizard in Context Menu >>> -----------------
//
// <h>Thread Configuration
// =======================
//
//   <o>Number of concurrent running user threads <1-250>
//   <i> Defines max. number of user threads that will run at the same time.
//   <i> Default: 6
#ifndef OS_TASKCNT
 #define OS_TASKCNT     25
#endif

#ifdef __MBED_CMSIS_RTOS_CA9
//   <o>Idle stack size [bytes] <64-4096:8><#/4>
//   <i> Defines default stack size for the Idle thread.
#ifndef OS_IDLESTKSIZE
 #define OS_IDLESTKSIZE 128
#endif
#else // __MBED_CMSIS_RTOS_CA9
//   <o>Default Thread stack size [bytes] <64-4096:8><#/4>
//   <i> Defines default stack size for threads with osThreadDef stacksz = 0
//   <i> Default: 200
#ifndef OS_STKSIZE
 #define OS_STKSIZE     200     // this stack size value is in words
#endif
#endif // __MBED_CMSIS_RTOS_CA9

//   <o>Main Thread stack size [bytes] <64-4096:8><#/4>
//   <i> Defines stack size for main thread.
//   <i> Default: 4096
#ifndef OS_MAINSTKSIZE
 #define OS_MAINSTKSIZE 4096	// this stack size value is in words
#endif

#ifndef __MBED_CMSIS_RTOS_CA9
//   <o>Number of threads with user-provided stack size <0-250>
//   <i> Defines the number of threads with user-provided stack size.
//   <i> Default: 0
#ifndef OS_PRIVCNT
 #define OS_PRIVCNT     0
#endif

//   <o>Total stack size [bytes] for threads with user-provided stack size <0-4096:8><#/4>
//   <i> Defines the combined stack size for threads with user-provided stack size.
//   <i> Default: 0
#ifndef OS_PRIVSTKSIZE
 #define OS_PRIVSTKSIZE 0       // this stack size value is in words
#endif
#endif // __MBED_CMSIS_RTOS_CA9

//   <q>Stack overflow checking
//   <i> Enable stack overflow checks at thread switch.
//   <i> Enabling this option increases slightly the execution time of a thread switch.
#ifndef OS_STKCHECK
 #define OS_STKCHECK    1
#endif

//   <q>Stack usage watermark
//   <i> Initialize thread stack with watermark pattern for analyzing stack usage (current/maximum) in System and Thread Viewer.
//   <i> Enabling this option increases significantly the execution time of osThreadCreate.
#ifndef OS_STKINIT
  #if (defined(MBED_STACK_STATS_ENABLED) && MBED_STACK_STATS_ENABLED)
   #define OS_STKINIT   1
  #else
   #define OS_STKINIT   0
  #endif
#endif

//   <o>Processor mode for thread execution
//     <0=> Unprivileged mode
//     <1=> Privileged mode
//   <i> Default: Privileged mode
#ifndef OS_RUNPRIV
 #define OS_RUNPRIV     1
#endif

// </h>

// <h>RTX Kernel Timer Tick Configuration
// ======================================
//   <q> Use Cortex-M SysTick timer as RTX Kernel Timer
//   <i> Cortex-M processors provide in most cases a SysTick timer that can be used as 
//   <i> as time-base for RTX.
#ifndef OS_SYSTICK
 #define OS_SYSTICK     0
#endif
//
//   <o>RTOS Kernel Timer input clock frequency [Hz] <1-1000000000>
//   <i> Defines the input frequency of the RTOS Kernel Timer.  
//   <i> Default: 12000000  (12MHz)
//   <i> is on most systems identical with the core clock.
#ifndef OS_CLOCK
 #error "no target defined"
#endif

//   <o>RTX Timer tick interval value [us] <1-1000000>
//   <i> The RTX Timer tick interval value is used to calculate timeout values.
//   <i> Default: 1000  (1ms)
#ifndef OS_TICK
 #define OS_TICK        1000
#endif

// </h>

// <h>System Configuration
// =======================
//
// <e>Round-Robin Thread switching
// ===============================
//
// <i> Enables Round-Robin Thread switching.
#ifndef OS_ROBIN
 #define OS_ROBIN       1
#endif

//   <o>Round-Robin Timeout [ticks] <1-1000>
//   <i> Defines how long a thread will execute before a thread switch.
//   <i> Default: 5
#ifndef OS_ROBINTOUT
 #define OS_ROBINTOUT   5
#endif

// </e>

// <e>User Timers
// ==============
//   <i> Enables user Timers
#ifndef OS_TIMERS
 #define OS_TIMERS      1
#endif

//   <o>Timer Thread Priority
//                        <1=> Low
//     <2=> Below Normal  <3=> Normal  <4=> Above Normal
//                        <5=> High
//                        <6=> Realtime (highest)
//   <i> Defines priority for Timer Thread
//   <i> Default: High
#ifndef OS_TIMERPRIO
 #define OS_TIMERPRIO   5
#endif

//   <o>Timer Thread stack size [bytes] <64-4096:8><#/4>
//   <i> Defines stack size for Timer thread.
//   <i> Default: 200
#ifndef OS_TIMERSTKSZ
 #define OS_TIMERSTKSZ  WORDS_STACK_SIZE	    // this stack size value is in words
#endif

//   <o>Timer Callback Queue size <1-32>
//   <i> Number of concurrent active timer callback functions.
//   <i> Default: 4
#ifndef OS_TIMERCBQS
 #define OS_TIMERCBQS   4
#endif

// </e>

//   <o>ISR FIFO Queue size<4=>   4 entries  <8=>   8 entries
//                         <12=> 12 entries  <16=> 16 entries
//                         <24=> 24 entries  <32=> 32 entries
//                         <48=> 48 entries  <64=> 64 entries
//                         <96=> 96 entries
//   <i> ISR functions store requests to this buffer,
//   <i> when they are called from the interrupt handler.
//   <i> Default: 16 entries
#ifndef OS_FIFOSZ
 #define OS_FIFOSZ      16
#endif

// </h>

//------------- <<< end of configuration section >>> -----------------------

// Standard library system mutexes
// ===============================
//  Define max. number system mutexes that are used to protect 
//  the arm standard runtime library. For microlib they are not used.
#ifndef OS_MUTEXCNT
 #define OS_MUTEXCNT    12
#endif

/*----------------------------------------------------------------------------
 *      RTX User configuration part END
 *---------------------------------------------------------------------------*/

#define OS_TRV          ((uint32_t)(((double)OS_CLOCK*(double)OS_TICK)/1E6)-1)


/*----------------------------------------------------------------------------
 *      Global Functions
 *---------------------------------------------------------------------------*/

/*--------------------------- os_idle_demon ---------------------------------*/
extern void rtos_idle_loop(void);

/// \brief The idle demon is running when no other thread is ready to run
void os_idle_demon (void) {
  rtos_idle_loop();
}

#if (OS_SYSTICK == 0)   // Functions for alternative timer as RTX kernel timer

/*--------------------------- os_tick_init ----------------------------------*/
#if defined(TARGET_RZ_A1H) || defined(TARGET_VK_RZ_A1H) || defined(TARGET_GR_LYCHEE)
#define OSTM0   (0xFCFEC000uL) /* OSTM0 */
#define OSTM1   (0xFCFEC400uL) /* OSTM1 */
#define CPG     (0xFCFE0410uL) /* CPG */

#define CPGSTBCR5 (*((volatile unsigned char*)(CPG    + 0x00000018uL)))

#define OSTM0CMP (*((volatile unsigned long*)(OSTM0   + 0x00000000uL)))
#define OSTM0CNT (*((volatile unsigned long*)(OSTM0   + 0x00000004uL)))
#define OSTM0TE  (*((volatile unsigned char*)(OSTM0   + 0x00000010uL)))
#define OSTM0TS  (*((volatile unsigned char*)(OSTM0   + 0x00000014uL)))
#define OSTM0TT  (*((volatile unsigned char*)(OSTM0   + 0x00000018uL)))
#define OSTM0CTL (*((volatile unsigned char*)(OSTM0   + 0x00000020uL)))

#define OSTM1CMP (*((volatile unsigned long*)(OSTM1   + 0x00000000uL)))
#define OSTM1CNT (*((volatile unsigned long*)(OSTM1   + 0x00000004uL)))
#define OSTM1TE  (*((volatile unsigned char*)(OSTM1   + 0x00000010uL)))
#define OSTM1TS  (*((volatile unsigned char*)(OSTM1   + 0x00000014uL)))
#define OSTM1TT  (*((volatile unsigned char*)(OSTM1   + 0x00000018uL)))
#define OSTM1CTL (*((volatile unsigned char*)(OSTM1   + 0x00000020uL)))

#define CPG_STBCR5_BIT_MSTP51   (0x02u) /* OSTM0 */
#define CM1_RENESAS_RZ_A1_P0_CLK ( 32000000u)
#define CM0_RENESAS_RZ_A1_P0_CLK ( 33333333u)

#if defined(TARGET_RZ_A1H) || defined(TARGET_VK_RZ_A1H)
#define RZ_A1_P0_CLK            CM0_RENESAS_RZ_A1_P0_CLK
#elif defined(TARGET_GR_LYCHEE)
#define RZ_A1_P0_CLK            CM1_RENESAS_RZ_A1_P0_CLK
#endif

typedef enum
{
    IRQ_SGI0       = 0,
    IRQ_OSTMI0TINT = 134
} IRQn_Type;

typedef void(*IRQHandler)();

extern void PendSV_Handler(uint32_t);
extern void OS_Tick_Handler(uint32_t);
extern uint32_t InterruptHandlerRegister (IRQn_Type irq, IRQHandler handler);
#endif

/// \brief Initializes an alternative hardware timer as RTX kernel timer
/// \return                             IRQ number of the alternative hardware timer
int os_tick_init (void) {
#if defined(TARGET_RZ_A1H) || defined(TARGET_VK_RZ_A1H) || defined(TARGET_GR_LYCHEE)
  CPGSTBCR5 &= ~(CPG_STBCR5_BIT_MSTP51); /* enable OSTM0 clock */

  OSTM0TT   = 0x1;    /* Stop the counter and clears the OSTM0TE bit.     */
  OSTM0CTL  = 0x1;    /* Interval timer mode. Interrupt enabled  */

  OSTM0CMP  = (uint32_t)(((double)RZ_A1_P0_CLK*(double)OS_TICK)/1E6);

  OSTM0TS   = 0x1;    /* Start the counter and sets the OSTM0TE bit.     */

  InterruptHandlerRegister(IRQ_SGI0    , (IRQHandler)PendSV_Handler);
  InterruptHandlerRegister(IRQ_OSTMI0TINT, (IRQHandler)OS_Tick_Handler);


  return IRQ_OSTMI0TINT; /* Return IRQ number of timer (0..239) */
              /* RTX will set and configure the interrupt */
#endif
}

/*--------------------------- os_tick_irqack --------------------------------*/

/// \brief Acknowledge alternative hardware timer interrupt
void os_tick_irqack (void) {
  /* ... */
}

#endif   // (OS_SYSTICK == 0)

/*--------------------------- os_error --------------------------------------*/
extern void error(const char* format, ...);
extern osThreadId svcThreadGetId (void);

void os_error (uint32_t err_code) {
    /* This function is called when a runtime error is detected. Parameter     */
    /* 'err_code' holds the runtime error code (defined in RTX_Config.h).      */
    osThreadId err_task = svcThreadGetId();
    error("RTX error code: 0x%08X, task ID: 0x%08X\n", err_code, err_task);

  /* HERE: include optional code to be executed on runtime error. */
  for (;;);
}

/*----------------------------------------------------------------------------
 *      RTX Hooks
 *---------------------------------------------------------------------------*/
extern void thread_terminate_hook(osThreadId id);

void sysThreadTerminate(osThreadId id) {
    thread_terminate_hook(id);
}

/*----------------------------------------------------------------------------
 *      RTX Configuration Functions
 *---------------------------------------------------------------------------*/

#include "RTX_CM_lib.h"

/*----------------------------------------------------------------------------
 * end of file
 *---------------------------------------------------------------------------*/
