text: /*
  *********************************************************************************************************
  *                                              uC/OS-II
  *                                        The Real-Time Kernel
  *
  *                    Copyright 1992-2020 Silicon Laboratories Inc. www.silabs.com
  *
  *                                 SPDX-License-Identifier: APACHE-2.0
  *
  *               This software is subject to an open source license and is distributed by
  *                Silicon Laboratories Inc. pursuant to the terms of the Apache License,
  *                    Version 2.0 available at www.apache.org/licenses/LICENSE-2.0.
  *
  *********************************************************************************************************
  */
  
  
  /*
  *********************************************************************************************************
  *
  *                                        ColdFire Specific code
  *
  * Filename : os_cpu_c.c
  * Version  : V2.93.00
  *********************************************************************************************************
  */
  
  #define  OS_CPU_GLOBALS
  #include <ucos_ii.h>
  
  /*
  *********************************************************************************************************
  *                                          LOCAL VARIABLES
  *********************************************************************************************************
  */
  
  #if (OS_VERSION >= 281) && (OS_TMR_EN > 0)
  static  INT16U  OSTmrCtr;
  #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_VERSION >= 281) && (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)
  {
  }
  #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_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_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_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
  *********************************************************************************************************
  */
  
  #if OS_CPU_HOOKS_EN > 0
  void  OSTaskStatHook (void)
  {
  #if OS_APP_HOOKS_EN > 0
      App_TaskStatHook();
  #endif
  }
  #endif
  
  
  /*
  *********************************************************************************************************
  *                                        INITIALIZE A TASK'S STACK
  *
  * Description: This function is called by either OSTaskCreate() or OSTaskCreateExt() to initialize the
  *              stack frame of the task being created.  This function is highly processor specific.
  *
  * Arguments  : task          is a pointer to the task code
  *
  *              pdata         is a pointer to a user supplied data area that will be passed to the task
  *                            when the task first executes.
  *
  *              ptos          is a pointer to the top of stack.  It is assumed that 'ptos' points to
  *                            a 'free' entry on the task stack.  If OS_STK_GROWTH is set to 1 then
  *                            'ptos' will contain the HIGHEST valid address of the stack.  Similarly, if
  *                            OS_STK_GROWTH is set to 0, the 'ptos' will contains the LOWEST valid address
  *                            of the stack.
  *
  *              opt           specifies options that can be used to alter the behavior of OSTaskStkInit().
  *                            (see uCOS_II.H for OS_TASK_OPT_???).
  *
  * Returns    : Always returns the location of the new top-of-stack' once the processor registers have
  *              been placed on the stack in the proper order.
  *
  * Note(s)    : 1) The initial value of the Status Register (SR) is OS_INITIAL_SR sets the MCF5275 processor
  *                 to run in SUPERVISOR mode.  It is assumed that all uC/OS-II tasks run in supervisor
  *                 mode.
  *              2) You can pass the above options in the 'opt' argument.  You MUST only use the upper
  *                 8 bits of 'opt' because the lower bits are reserved by uC/OS-II.  If you make changes
  *                 to the code below, you will need to ensure that it doesn't affect the behaviour of
  *                 OS_TaskIdle() and OS_TaskStat().
  *              3) Registers are initialized to make them easy to differentiate with a debugger.
  *********************************************************************************************************
  */
  
  OS_STK  *OSTaskStkInit (void (*task)(void *pd), void *p_arg, OS_STK *ptos, INT16U opt)
  {
      INT32U  *pstk32;
  
  
      opt = opt;                                        /* 'opt' is not used, prevent compiler warning   */
  
      switch ((INT32U)ptos & 0x00000003) {              /* Align the stack on a longword boundary        */
          case 0:
               pstk32 = (OS_STK *)((INT32U)ptos + 0);
               break;
  
          case 1:
               pstk32 = (OS_STK *)((INT32U)ptos - 1);
               break;
  
          case 2:
               pstk32 = (OS_STK *)((INT32U)ptos - 2);
               break;
  
          case 3:
               pstk32 = (OS_STK *)((INT32U)ptos - 3);
               break;
      }
  
      *pstk32   = 0;                                    /* -- SIMULATE CALL TO FUNCTION WITH ARGUMENT -- */
      *--pstk32 = (INT32U)p_arg;                        /*    p_arg                                      */
      *--pstk32 = (INT32U)task;                         /*    Task return address                        */
  
                                                        /* ------ SIMULATE INTERRUPT STACK FRAME ------- */
      *--pstk32 = (INT32U)task;                         /*    Task return address                        */
      *--pstk32 = (INT32U)(0x40000000 | OS_INITIAL_SR); /*    format and status register                 */
  
                                                        /* ------- SAVE ALL PROCESSOR REGISTERS -------- */
      *--pstk32 = (INT32U)0x00A600A6L;                  /* Register A6                                   */
      *--pstk32 = (INT32U)0x00A500A5L;                  /* Register A5                                   */
      *--pstk32 = (INT32U)0x00A400A4L;                  /* Register A4                                   */
      *--pstk32 = (INT32U)0x00A300A3L;                  /* Register A3                                   */
      *--pstk32 = (INT32U)0x00A200A2L;                  /* Register A2                                   */
      *--pstk32 = (INT32U)0x00A100A1L;                  /* Register A1                                   */
      *--pstk32 = (INT32U)p_arg;                        /* Register A0                                   */
      *--pstk32 = (INT32U)0x00D700D7L;                  /* Register D7                                   */
      *--pstk32 = (INT32U)0x00D600D6L;                  /* Register D6                                   */
      *--pstk32 = (INT32U)0x00D500D5L;                  /* Register D5                                   */
      *--pstk32 = (INT32U)0x00D400D4L;                  /* Register D4                                   */
      *--pstk32 = (INT32U)0x00D300D3L;                  /* Register D3                                   */
      *--pstk32 = (INT32U)0x00D200D2L;                  /* Register D2                                   */
      *--pstk32 = (INT32U)0x00D100D1L;                  /* Register D1                                   */
      *--pstk32 = (INT32U)p_arg;                        /* Register D0                                   */
      return ((OS_STK *)pstk32);                        /* Return pointer to new top-of-stack            */
  }
  
  
  /*
  *********************************************************************************************************
  *                                           TASK SWITCH HOOK
  *
  * Description: This function is called when a task switch is performed.  This allows you to perform other
  *              operations during a context switch.
  *
  * Arguments  : none
  *
  * Note(s)    : 1) Interrupts are disabled during this call.
  *              2) It is assumed that the global pointer 'OSTCBHighRdy' points to the TCB of the task that
  *                 will be 'switched in' (i.e. the highest priority task) and, 'OSTCBCur' points to the
  *                 task being switched out (i.e. the preempted task).
  *********************************************************************************************************
  */
  
  #if (OS_CPU_HOOKS_EN > 0) && (OS_TASK_SW_HOOK_EN > 0)
  void  OSTaskSwHook (void)
  {
  #if OS_APP_HOOKS_EN > 0
      App_TaskSwHook();
  #endif
  }
  #endif
  
  /*
  *********************************************************************************************************
  *                                           OS_TCBInit() HOOK
  *
  * Description: This function is called by OS_TCBInit() after setting up most of the TCB.
  *
  * Arguments  : ptcb    is a pointer to the TCB of the task being created.
  *
  * Note(s)    : 1) Interrupts may or may not be ENABLED during this call.
  *********************************************************************************************************
  */
  #if OS_CPU_HOOKS_EN > 0 && OS_VERSION > 203
  void  OSTCBInitHook (OS_TCB *ptcb)
  {
  #if OS_APP_HOOKS_EN > 0
      App_TCBInitHook(ptcb);
  #else
      (void)ptcb;                                                         /* Prevent compiler warning                                 */
  #endif
  }
  #endif
  
  
  /*
  *********************************************************************************************************
  *                                               TICK HOOK
  *
  * Description: This function is called every tick.
  *
  * Arguments  : none
  *
  * Note(s)    : 1) Interrupts may or may not be ENABLED during this call.
  *********************************************************************************************************
  */
  
  #if (OS_CPU_HOOKS_EN > 0) && (OS_TIME_TICK_HOOK_EN > 0)
  void  OSTimeTickHook (void)
  {
  #if OS_APP_HOOKS_EN > 0
      App_TimeTickHook();
  #endif
  
  #if (OS_VERSION >= 281) && (OS_TMR_EN > 0)
      OSTmrCtr++;
      if (OSTmrCtr >= (OS_TICKS_PER_SEC / OS_TMR_CFG_TICKS_PER_SEC)) {
          OSTmrCtr = 0;
          OSTmrSignal();
      }
  #endif
  
  }
  #endif
  
  