;/*
; * FreeRTOS Kernel <DEVELOPMENT BRANCH>
; * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
; *
; * SPDX-License-Identifier: MIT
; *
; * 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
; *
; */

        .text
        .arm
        .ref vTaskSwitchContext
        .ref xTaskIncrementTick
        .ref ulTaskHasFPUContext
        .ref pxCurrentTCB

;/*-----------------------------------------------------------*/
;
; Save Task Context
;
portSAVE_CONTEXT .macro
        DSB

        ; Push R0 as we are going to use it
        STMDB   SP!, {R0}

        ; Set R0 to point to the task stack pointer.
        STMDB   SP,{SP}^
        SUB SP, SP, #4
        LDMIA   SP!,{R0}

        ; Push the return address onto the stack.
        STMDB   R0!, {LR}

        ; Now LR has been saved, it can be used instead of R0.
        MOV LR, R0

        ; Pop R0 so it can be saved onto the task stack.
        LDMIA   SP!, {R0}

        ; Push all the system mode registers onto the task stack.
        STMDB   LR,{R0-LR}^
        SUB LR, LR, #60

        ; Push the SPSR onto the task stack.
        MRS R0, SPSR
        STMDB   LR!, {R0}

    .if (__TI_VFP_SUPPORT__)
        ;Determine if the task maintains an FPU context.
        LDR R0, ulFPUContextConst
        LDR R0, [R0]

        ; Test the flag
        CMP     R0, #0

        ; If the task is not using a floating point context then skip the
        ; saving of the FPU registers.
        BEQ     $+16
        FSTMDBD LR!, {D0-D15}
        FMRX    R1,  FPSCR
        STMFD   LR!, {R1}

        ; Save the flag
        STMDB   LR!, {R0}
    .endif

        ; Store the new top of stack for the task.
        LDR R0, pxCurrentTCBConst
        LDR R0, [R0]
        STR LR, [R0]

        .endm

;/*-----------------------------------------------------------*/
;
; Restore Task Context
;
portRESTORE_CONTEXT .macro
        LDR     R0, pxCurrentTCBConst
        LDR     R0, [R0]
        LDR     LR, [R0]

    .if (__TI_VFP_SUPPORT__)
        ; The floating point context flag is the first thing on the stack.
        LDR     R0, ulFPUContextConst
        LDMFD   LR!, {R1}
        STR     R1, [R0]

        ; Test the flag
        CMP     R1, #0

        ; If the task is not using a floating point context then skip the
        ; VFP register loads.
        BEQ     $+16

        ; Restore the floating point context.
        LDMFD   LR!, {R0}
        FLDMIAD LR!, {D0-D15}
        FMXR    FPSCR, R0
    .endif

        ; Get the SPSR from the stack.
        LDMFD   LR!, {R0}
        MSR     SPSR_CSXF, R0

        ; Restore all system mode registers for the task.
        LDMFD   LR, {R0-R14}^

        ; Restore the return address.
        LDR     LR, [LR, #+60]

        ; And return - correcting the offset in the LR to obtain the
        ; correct address.
        SUBS    PC, LR, #4
        .endm

;/*-----------------------------------------------------------*/
; Start the first task by restoring its context.

        .def vPortStartFirstTask

vPortStartFirstTask:
        portRESTORE_CONTEXT

;/*-----------------------------------------------------------*/
; Yield to another task.

        .def vPortYieldProcessor

vPortYieldProcessor:
        ; Within an IRQ ISR the link register has an offset from the true return
        ; address.  SWI doesn't do this. Add the offset manually so the ISR
        ; return code can be used.
        ADD     LR, LR, #4

        ; First save the context of the current task.
        portSAVE_CONTEXT

        ; Select the next task to execute. */
        BL      vTaskSwitchContext

        ; Restore the context of the task selected to execute.
        portRESTORE_CONTEXT

;/*-----------------------------------------------------------*/
; Yield to another task from within the FreeRTOS API

        .def vPortYeildWithinAPI

vPortYeildWithinAPI:
        ; Save the context of the current task.

        portSAVE_CONTEXT
        ; Clear SSI flag.
        MOVW    R0, #0xFFF4
        MOVT    R0, #0xFFFF
        LDR     R0, [R0]

        ; Select the next task to execute. */
        BL      vTaskSwitchContext

        ; Restore the context of the task selected to execute.
        portRESTORE_CONTEXT

;/*-----------------------------------------------------------*/
; Preemptive Tick

        .def vPortPreemptiveTick

vPortPreemptiveTick:

        ; Save the context of the current task.
        portSAVE_CONTEXT

        ; Clear interrupt flag
        MOVW    R0, #0xFC88
        MOVT    R0, #0xFFFF
        MOV     R1, #1
        STR     R1, [R0]

        ; Increment the tick count, making any adjustments to the blocked lists
        ; that may be necessary.
        BL      xTaskIncrementTick

        ; Select the next task to execute.
        CMP R0, #0
        BLNE    vTaskSwitchContext

        ; Restore the context of the task selected to execute.
        portRESTORE_CONTEXT

;-------------------------------------------------------------------------------

    .if (__TI_VFP_SUPPORT__)

        .def vPortInitialiseFPSCR

vPortInitialiseFPSCR:

        MOV     R0, #0
        FMXR    FPSCR, R0
        BX      LR

    .endif ;__TI_VFP_SUPPORT__


pxCurrentTCBConst   .word   pxCurrentTCB
ulFPUContextConst   .word   ulTaskHasFPUContext
;-------------------------------------------------------------------------------
