/*****************************************************************************
* Product: DPP on AT91SAM7S-EK board, cooperative QV kernel
* Last Updated for Version: 5.5.1
* Date of the Last Update:  2015-10-05
*
*                    Q u a n t u m     L e a P s
*                    ---------------------------
*                    innovating embedded systems
*
* Copyright (C) Quantum Leaps, LLC. All rights reserved.
*
* This program is open source software: you can redistribute it and/or
* modify it under the terms of the GNU General Public License as published
* by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Alternatively, this program may be distributed and modified under the
* terms of Quantum Leaps commercial licenses, which expressly supersede
* the GNU General Public License and are specifically designed for
* licensees interested in retaining the proprietary status of their code.
*
* This program 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
* along with this program. If not, see <www.gnu.org/licenses/>.
*
* Contact information:
* <www.state-machine.com/licensing>
* <info@state-machine.com>
*****************************************************************************/
#include "qpn.h"
#include "dpp.h"
#include "bsp.h"

#include "AT91SAM7S64.h"      /* Atmel AT91SAM7S64 MCU */

//Q_DEFINE_THIS_FILE

#pragma diag_suppress=Ta021  /* call __iar_disable_interrupt from __ramfunc */
#pragma diag_suppress=Ta022  /* possible ROM access <ptr> from __ramfunc */
#pragma diag_suppress=Ta023  /* call to non __ramfunc from __ramfunc */

/* Local objects -----------------------------------------------------------*/
typedef void (*IntVector)(void); /* IntVector pointer-to-function */
uint32_t get_MCK_FREQ(void);     /* CPU clock set up in __low_level_init() */

uint32_t const l_led[] = {
    (1U << 0),  /* LED D1 on AT91SAM7S-EK */
    (1U << 1),  /* LED D2 on AT91SAM7S-EK */
    (1U << 2),  /* LED D3 on AT91SAM7S-EK */
    (1U << 3)   /* LED D4 on AT91SAM7S-EK */
};

#define LED_ON(num_)  (AT91C_BASE_PIOA->PIO_CODR = l_led[num_])
#define LED_OFF(num_) (AT91C_BASE_PIOA->PIO_SODR = l_led[num_])

uint32_t const l_btn[] = {
    (1U << 19), /* BTN P1 on AT91SAM7S-EK */
    (1U << 20), /* BTN P2 on AT91SAM7S-EK */
    (1U << 14), /* BTN P3 on AT91SAM7S-EK */
    (1U << 15)  /* BTN P4 on AT91SAM7S-EK */
};

/* random seed */
static uint32_t l_rnd;

/* ISRs and ISR "wrappers" ================================================*/
__ramfunc
void BSP_irq(void) {
    IntVector vect = (IntVector)AT91C_BASE_AIC->AIC_IVR; /* read the IVR */
    AT91C_BASE_AIC->AIC_IVR = (AT91_REG)vect; /* write AIC_IVR if protected */

    QF_INT_ENABLE();    /* allow nesting interrupts */
    (*vect)();          /* call the IRQ ISR via the pointer to function */
    QF_INT_DISABLE();   /* disable interrups for the exit sequence */

    AT91C_BASE_AIC->AIC_EOICR = 0; /* write AIC_EOICR to clear interrupt */
}
/* ISRs --------------------------------------------------------------------*/
__ramfunc
static void ISR_tick(void) {
    /* state of the button debouncing, see below */
    static struct ButtonsDebouncing {
        uint32_t depressed;
        uint32_t previous;
    } buttons = { ~0U, ~0U };
    uint32_t current;
    uint32_t volatile tmp;

    /* clear the interrupt source */
    tmp = AT91C_BASE_PITC->PITC_PIVR;

    QF_tickXISR(0U); /* process time events for rate 0 */

    /* Perform the debouncing of buttons. The algorithm for debouncing
    * adapted from the book "Embedded Systems Dictionary" by Jack Ganssle
    * and Michael Barr, page 71.
    */
    current = ~AT91C_BASE_PIOA->PIO_PDSR;/* read PIOA with state of Buttons */
    tmp = buttons.depressed; /* save the debounced depressed buttons */
    buttons.depressed |= (buttons.previous & current); /* set depressed */
    buttons.depressed &= (buttons.previous | current); /* clear released */
    buttons.previous   = current; /* update the history */
    tmp ^= buttons.depressed;     /* changed debounced depressed */
    if ((tmp & l_btn[0]) != 0U) {  /* debounced BTN_P1 state changed? */
        if ((buttons.depressed & l_btn[0]) != 0U) { /* is BTN_P1 depressed? */
            QACTIVE_POST_ISR(&AO_Table, PAUSE_SIG, 0U);
        }
        else {            /* the button is released */
            QACTIVE_POST_ISR(&AO_Table, SERVE_SIG, 0U);
        }
    }
}
/*..........................................................................*/
__ramfunc
static void ISR_spur(void) {
}

/* BSP functions ===========================================================*/
void BSP_init(void) {
    uint32_t i;

    /* When using the JTAG debugger the AIC might not be initialised
    * to the correct default state. This line ensures that AIC does not
    * mask all interrupts at the start.
    */
    AT91C_BASE_AIC->AIC_EOICR = 0U;

    /* enable peripheral clock for PIOA */
    AT91C_BASE_PMC->PMC_PCER = (1U << AT91C_ID_PIOA);

    /* initialize the LEDs... */
    for (i = 0; i < Q_DIM(l_led); ++i) {
        AT91C_BASE_PIOA->PIO_PER = l_led[i];  /* enable pin */
        AT91C_BASE_PIOA->PIO_OER = l_led[i];  /* configure as output pin */
        LED_OFF(i);                           /* extinguish the LED */
    }

    /* initialize the Buttons... */
    for (i = 0; i < Q_DIM(l_btn); ++i) {
        AT91C_BASE_PIOA->PIO_ODR = l_btn[i]; /* disable output (input pin) */
        AT91C_BASE_PIOA->PIO_PER = l_btn[i]; /* enable pin */
    }

    /* configure Advanced Interrupt Controller (AIC) of AT91... */
    AT91C_BASE_AIC->AIC_IDCR = ~0;            /* disable all interrupts */
    AT91C_BASE_AIC->AIC_ICCR = ~0;            /* clear all interrupts */
    for (i = 0; i < 8; ++i) {
        AT91C_BASE_AIC->AIC_EOICR = 0;        /* write AIC_EOICR 8 times */
    }

    /* set the desired ticking rate for the PIT... */
    i = (get_MCK_FREQ() / 16U / BSP_TICKS_PER_SEC) - 1U;
    AT91C_BASE_PITC->PITC_PIMR = (AT91C_PITC_PITEN | AT91C_PITC_PITIEN | i);

    BSP_randomSeed(1234U); /* seed the random number generator */
}
/*..........................................................................*/
void BSP_displayPhilStat(uint8_t n, char const *stat) {
    if (stat[0] == 'h') {
        LED_ON(0);  /* turn LED on  */
    }
    else {
        LED_OFF(0); /* turn LED off */
    }
    if (stat[0] == 'e') {
        LED_ON(1);  /* turn LED on  */
    }
    else {
        LED_OFF(1); /* turn LED off */
    }
}
/*..........................................................................*/
void BSP_displayPaused(uint8_t paused) {
    if (paused != (uint8_t)0) {
        LED_ON(2);  /* turn LED on  */
    }
    else {
        LED_OFF(2); /* turn LED off */
    }
}
/*..........................................................................*/
uint32_t BSP_random(void) { /* a very cheap pseudo-random-number generator */
    /* "Super-Duper" Linear Congruential Generator (LCG)
    * LCG(2^32, 3*7*11*13*23, 0, seed)
    */
    l_rnd = l_rnd * (3U*7U*11U*13U*23U);

    return l_rnd >> 8;
}
/*..........................................................................*/
void BSP_randomSeed(uint32_t seed) {
    l_rnd = seed;
}
/*..........................................................................*/
void BSP_terminate(int16_t result) {
    (void)result;
}


/* QF callbacks ============================================================*/
void QF_onStartup(void) {
    /* hook the exception handlers from the QF port... */
    *(uint32_t volatile *)0x24 = (uint32_t)&QF_undef;
    *(uint32_t volatile *)0x28 = (uint32_t)&QF_swi;
    *(uint32_t volatile *)0x2C = (uint32_t)&QF_pAbort;
    *(uint32_t volatile *)0x30 = (uint32_t)&QF_dAbort;
    *(uint32_t volatile *)0x34 = (uint32_t)&QF_reserved;
    *(uint32_t volatile *)0x38 = (uint32_t)&QV_irq;
    *(uint32_t volatile *)0x3C = (uint32_t)0; /* QV_fiq unimplemented! */

    AT91C_BASE_AIC->AIC_SVR[AT91C_ID_SYS] = (uint32_t)&ISR_tick;
    AT91C_BASE_AIC->AIC_SPU = (uint32_t)&ISR_spur; /* spurious IRQ */

    AT91C_BASE_AIC->AIC_SMR[AT91C_ID_SYS] =
        (AT91C_AIC_SRCTYPE_INT_HIGH_LEVEL | AT91C_AIC_PRIOR_LOWEST);
    AT91C_BASE_AIC->AIC_ICCR = (1 << AT91C_ID_SYS);
    AT91C_BASE_AIC->AIC_IECR = (1 << AT91C_ID_SYS);
}
/*..........................................................................*/
__ramfunc
void QV_onIdle(void) { /* NOTE: called with interrupts DISABLED */
    /* toggle first LED on and off, see NOTE01 */
    LED_ON(3);  /* turn LED on  */
    LED_OFF(3); /* turn LED off */

#ifdef NDEBUG /* only if not debugging (idle mode hinders debugging) */
    AT91C_BASE_PMC->PMC_SCDR = 1;/* Power-Management: disable the CPU clock */
    /* NOTE: an interrupt starts the CPU clock again */
    QF_INT_ENABLE(); /* enable interrupts as soon as CPU clock starts */
#else
    QF_INT_ENABLE();
#endif
}
/*..........................................................................*/
Q_NORETURN Q_onAssert(char const Q_ROM * const module, int loc) {
    QF_INT_DISABLE(); /* disable all interrupts */
    /*
    * NOTE: add here your application-specific error handling
    */
    (void)module;
    (void)loc;

    /* trip the Watchdog to reset the system */
    AT91C_BASE_WDTC->WDTC_WDCR = (0xA5U << 24) | AT91C_WDTC_WDRSTT;

    /* hang in here until the reset occurrs */
    for (;;) {
    }
}

/*****************************************************************************
* NOTE01:
* One of the LEDs is used to visualize the idle loop activity. The brightness
* of the LED is proportional to the frequency of invcations of the idle loop.
* Please note that the LED is toggled with interrupts locked, so no interrupt
* execution time contributes to the brightness of the User LED.
*/