/*
 * FreeRTOS Kernel <DEVELOPMENT BRANCH>
 * Copyright (C) 2021 Amazon.com, Inc. or its affiliates. All Rights Reserved.
 * Copyright (c) 2024 Raspberry Pi (Trading) Ltd.
 *
 * SPDX-License-Identifier: MIT AND BSD-3-Clause
 *
 * 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
 *
 */

/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
 * all the API functions to use the MPU wrappers. That should only be done when
 * task.h is included from an application file. */
#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE

/* Scheduler includes. */
#include "FreeRTOS.h"
#include "task.h"
#include "rp2040_config.h"
#include "hardware/clocks.h"
#include "hardware/exception.h"

/* MPU includes. */
#include "mpu_wrappers.h"
#include "mpu_syscall_numbers.h"

/* Portasm includes. */
#include "portasm.h"

#if ( configENABLE_TRUSTZONE == 1 )
    /* Secure components includes. */
    #include "secure_context.h"
    #include "secure_init.h"
#endif /* configENABLE_TRUSTZONE */

/*
 * LIB_PICO_MULTICORE == 1, if we are linked with pico_multicore (note that
 * the non SMP FreeRTOS_Kernel is not linked with pico_multicore itself). We
 * use this flag to determine if we need multi-core functionality.
 */
#if ( LIB_PICO_MULTICORE == 1 )
#include "pico/multicore.h"
#endif /* LIB_PICO_MULTICORE */

#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE

/**
 * The FreeRTOS Cortex M33 port can be configured to run on the Secure Side only
 * i.e. the processor boots as secure and never jumps to the non-secure side.
 * The Trust Zone support in the port must be disabled in order to run FreeRTOS
 * on the secure side. The following are the valid configuration seetings:
 *
 * 1. Run FreeRTOS on the Secure Side:
 *    configRUN_FREERTOS_SECURE_ONLY = 1 and configENABLE_TRUSTZONE = 0
 *
 * 2. Run FreeRTOS on the Non-Secure Side with Secure Side function call support:
 *    configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 1
 *
 * 3. Run FreeRTOS on the Non-Secure Side only i.e. no Secure Side function call support:
 *    configRUN_FREERTOS_SECURE_ONLY = 0 and configENABLE_TRUSTZONE = 0
 */
#if ( ( configRUN_FREERTOS_SECURE_ONLY == 1 ) && ( configENABLE_TRUSTZONE == 1 ) )
    #error TrustZone needs to be disabled in order to run FreeRTOS on the Secure Side.
#endif

/**
 * Cortex-M23 does not have non-secure PSPLIM. We should use PSPLIM on Cortex-M23
 * only when FreeRTOS runs on secure side.
 */
#if ( ( portHAS_ARMV8M_MAIN_EXTENSION == 0 ) && ( configRUN_FREERTOS_SECURE_ONLY == 0 ) )
    #define portUSE_PSPLIM_REGISTER    0
#else
    #define portUSE_PSPLIM_REGISTER    1
#endif
/*-----------------------------------------------------------*/

/**
 * @brief Prototype of all Interrupt Service Routines (ISRs).
 */
typedef void ( * portISR_t )( void );
/*-----------------------------------------------------------*/

/**
 * @brief Constants required to manipulate the NVIC.
 */
#define portNVIC_SYSTICK_CTRL_REG             ( *( ( volatile uint32_t * ) 0xe000e010 ) )
#define portNVIC_SYSTICK_LOAD_REG             ( *( ( volatile uint32_t * ) 0xe000e014 ) )
#define portNVIC_SYSTICK_CURRENT_VALUE_REG    ( *( ( volatile uint32_t * ) 0xe000e018 ) )
#define portNVIC_SHPR3_REG                    ( *( ( volatile uint32_t * ) 0xe000ed20 ) )
#define portNVIC_SYSTICK_ENABLE_BIT           ( 1UL << 0UL )
#define portNVIC_SYSTICK_INT_BIT              ( 1UL << 1UL )
#define portNVIC_SYSTICK_CLK_BIT              ( 1UL << 2UL )
#define portNVIC_SYSTICK_COUNT_FLAG_BIT       ( 1UL << 16UL )
#define portNVIC_PEND_SYSTICK_CLEAR_BIT       ( 1UL << 25UL )
#define portNVIC_PEND_SYSTICK_SET_BIT         ( 1UL << 26UL )
#define portMIN_INTERRUPT_PRIORITY            ( 255UL )
#define portNVIC_PENDSV_PRI                   ( portMIN_INTERRUPT_PRIORITY << 16UL )
#define portNVIC_SYSTICK_PRI                  ( portMIN_INTERRUPT_PRIORITY << 24UL )
/*-----------------------------------------------------------*/

/**
 * @brief Constants required to manipulate the SCB.
 */
#define portSCB_VTOR_REG                      ( *( ( portISR_t ** ) 0xe000ed08 ) )
#define portSCB_SYS_HANDLER_CTRL_STATE_REG    ( *( ( volatile uint32_t * ) 0xe000ed24 ) )
#define portSCB_MEM_FAULT_ENABLE_BIT          ( 1UL << 16UL )
/*-----------------------------------------------------------*/

/**
 * @brief Constants used to check the installation of the FreeRTOS interrupt handlers.
 */
#define portVECTOR_INDEX_SVC       ( 11 )
#define portVECTOR_INDEX_PENDSV    ( 14 )
/*-----------------------------------------------------------*/

/**
 * @brief Constants required to check the validity of an interrupt priority.
 */
#define portNVIC_SHPR2_REG                 ( *( ( volatile uint32_t * ) 0xE000ED1C ) )
#define portFIRST_USER_INTERRUPT_NUMBER    ( 16 )
#define portNVIC_IP_REGISTERS_OFFSET_16    ( 0xE000E3F0 )
#define portAIRCR_REG                      ( *( ( volatile uint32_t * ) 0xE000ED0C ) )
#define portTOP_BIT_OF_BYTE                ( ( uint8_t ) 0x80 )
#define portMAX_PRIGROUP_BITS              ( ( uint8_t ) 7 )
#define portPRIORITY_GROUP_MASK            ( 0x07UL << 8UL )
#define portPRIGROUP_SHIFT                 ( 8UL )
/*-----------------------------------------------------------*/

/**
 * @brief Constants used during system call enter and exit.
 */
#define portPSR_STACK_PADDING_MASK              ( 1UL << 9UL )
#define portEXC_RETURN_STACK_FRAME_TYPE_MASK    ( 1UL << 4UL )
/*-----------------------------------------------------------*/

/**
 * @brief Constants required to manipulate the FPU.
 */
#define portCPACR               ( ( volatile uint32_t * ) 0xe000ed88 )              /* Coprocessor Access Control Register. */
#define portCPACR_CP10_VALUE    ( 3UL )
#define portCPACR_CP11_VALUE    portCPACR_CP10_VALUE
#define portCPACR_CP10_POS      ( 20UL )
#define portCPACR_CP11_POS      ( 22UL )

#define portFPCCR               ( ( volatile uint32_t * ) 0xe000ef34 )              /* Floating Point Context Control Register. */
#define portFPCCR_ASPEN_POS     ( 31UL )
#define portFPCCR_ASPEN_MASK    ( 1UL << portFPCCR_ASPEN_POS )
#define portFPCCR_LSPEN_POS     ( 30UL )
#define portFPCCR_LSPEN_MASK    ( 1UL << portFPCCR_LSPEN_POS )
/*-----------------------------------------------------------*/

/**
 * @brief Offsets in the stack to the parameters when inside the SVC handler.
 */
#define portOFFSET_TO_LR     ( 5 )
#define portOFFSET_TO_PC     ( 6 )
#define portOFFSET_TO_PSR    ( 7 )
/*-----------------------------------------------------------*/

/**
 * @brief Constants required to manipulate the MPU.
 */
#define portMPU_TYPE_REG                            ( *( ( volatile uint32_t * ) 0xe000ed90 ) )
#define portMPU_CTRL_REG                            ( *( ( volatile uint32_t * ) 0xe000ed94 ) )
#define portMPU_RNR_REG                             ( *( ( volatile uint32_t * ) 0xe000ed98 ) )

#define portMPU_RBAR_REG                            ( *( ( volatile uint32_t * ) 0xe000ed9c ) )
#define portMPU_RLAR_REG                            ( *( ( volatile uint32_t * ) 0xe000eda0 ) )

#define portMPU_RBAR_A1_REG                         ( *( ( volatile uint32_t * ) 0xe000eda4 ) )
#define portMPU_RLAR_A1_REG                         ( *( ( volatile uint32_t * ) 0xe000eda8 ) )

#define portMPU_RBAR_A2_REG                         ( *( ( volatile uint32_t * ) 0xe000edac ) )
#define portMPU_RLAR_A2_REG                         ( *( ( volatile uint32_t * ) 0xe000edb0 ) )

#define portMPU_RBAR_A3_REG                         ( *( ( volatile uint32_t * ) 0xe000edb4 ) )
#define portMPU_RLAR_A3_REG                         ( *( ( volatile uint32_t * ) 0xe000edb8 ) )

#define portMPU_MAIR0_REG                           ( *( ( volatile uint32_t * ) 0xe000edc0 ) )
#define portMPU_MAIR1_REG                           ( *( ( volatile uint32_t * ) 0xe000edc4 ) )

#define portMPU_RBAR_ADDRESS_MASK                   ( 0xffffffe0 ) /* Must be 32-byte aligned. */
#define portMPU_RLAR_ADDRESS_MASK                   ( 0xffffffe0 ) /* Must be 32-byte aligned. */

#define portMPU_RBAR_ACCESS_PERMISSIONS_MASK        ( 3UL << 1UL )

#define portMPU_MAIR_ATTR0_POS                      ( 0UL )
#define portMPU_MAIR_ATTR0_MASK                     ( 0x000000ff )

#define portMPU_MAIR_ATTR1_POS                      ( 8UL )
#define portMPU_MAIR_ATTR1_MASK                     ( 0x0000ff00 )

#define portMPU_MAIR_ATTR2_POS                      ( 16UL )
#define portMPU_MAIR_ATTR2_MASK                     ( 0x00ff0000 )

#define portMPU_MAIR_ATTR3_POS                      ( 24UL )
#define portMPU_MAIR_ATTR3_MASK                     ( 0xff000000 )

#define portMPU_MAIR_ATTR4_POS                      ( 0UL )
#define portMPU_MAIR_ATTR4_MASK                     ( 0x000000ff )

#define portMPU_MAIR_ATTR5_POS                      ( 8UL )
#define portMPU_MAIR_ATTR5_MASK                     ( 0x0000ff00 )

#define portMPU_MAIR_ATTR6_POS                      ( 16UL )
#define portMPU_MAIR_ATTR6_MASK                     ( 0x00ff0000 )

#define portMPU_MAIR_ATTR7_POS                      ( 24UL )
#define portMPU_MAIR_ATTR7_MASK                     ( 0xff000000 )

#define portMPU_RLAR_ATTR_INDEX0                    ( 0UL << 1UL )
#define portMPU_RLAR_ATTR_INDEX1                    ( 1UL << 1UL )
#define portMPU_RLAR_ATTR_INDEX2                    ( 2UL << 1UL )
#define portMPU_RLAR_ATTR_INDEX3                    ( 3UL << 1UL )
#define portMPU_RLAR_ATTR_INDEX4                    ( 4UL << 1UL )
#define portMPU_RLAR_ATTR_INDEX5                    ( 5UL << 1UL )
#define portMPU_RLAR_ATTR_INDEX6                    ( 6UL << 1UL )
#define portMPU_RLAR_ATTR_INDEX7                    ( 7UL << 1UL )

#define portMPU_RLAR_REGION_ENABLE                  ( 1UL )

#if ( portARMV8M_MINOR_VERSION >= 1 )
    /* Enable Privileged eXecute Never MPU attribute for the selected memory
     * region. */
    #define portMPU_RLAR_PRIVILEGED_EXECUTE_NEVER   ( 1UL << 4UL )
#endif /* portARMV8M_MINOR_VERSION >= 1 */

/* Enable privileged access to unmapped region. */
#define portMPU_PRIV_BACKGROUND_ENABLE_BIT          ( 1UL << 2UL )

/* Enable MPU. */
#define portMPU_ENABLE_BIT                          ( 1UL << 0UL )

/* Expected value of the portMPU_TYPE register. */
#define portEXPECTED_MPU_TYPE_VALUE                 ( configTOTAL_MPU_REGIONS << 8UL )

/* Extract first address of the MPU region as encoded in the
 * RBAR (Region Base Address Register) value. */
#define portEXTRACT_FIRST_ADDRESS_FROM_RBAR( rbar ) \
    ( ( rbar ) & portMPU_RBAR_ADDRESS_MASK )

/* Extract last address of the MPU region as encoded in the
 * RLAR (Region Limit Address Register) value. */
#define portEXTRACT_LAST_ADDRESS_FROM_RLAR( rlar ) \
    ( ( ( rlar ) & portMPU_RLAR_ADDRESS_MASK ) | ~portMPU_RLAR_ADDRESS_MASK )

/* Does addr lies within [start, end] address range? */
#define portIS_ADDRESS_WITHIN_RANGE( addr, start, end ) \
    ( ( ( addr ) >= ( start ) ) && ( ( addr ) <= ( end ) ) )

/* Is the access request satisfied by the available permissions? */
#define portIS_AUTHORIZED( accessRequest, permissions ) \
    ( ( ( permissions ) & ( accessRequest ) ) == accessRequest )

/* Max value that fits in a uint32_t type. */
#define portUINT32_MAX    ( ~( ( uint32_t ) 0 ) )

/* Check if adding a and b will result in overflow. */
#define portADD_UINT32_WILL_OVERFLOW( a, b )    ( ( a ) > ( portUINT32_MAX - ( b ) ) )
/*-----------------------------------------------------------*/

/**
 * @brief The maximum 24-bit number.
 *
 * It is needed because the systick is a 24-bit counter.
 */
#define portMAX_24_BIT_NUMBER       ( 0xffffffUL )

/**
 * @brief A fiddle factor to estimate the number of SysTick counts that would
 * have occurred while the SysTick counter is stopped during tickless idle
 * calculations.
 */
#define portMISSED_COUNTS_FACTOR    ( 94UL )
/*-----------------------------------------------------------*/

/**
 * @brief Constants required to set up the initial stack.
 */
#define portINITIAL_XPSR    ( 0x01000000 )

#if ( configRUN_FREERTOS_SECURE_ONLY == 1 )

/**
 * @brief Initial EXC_RETURN value.
 *
 *     FF         FF         FF         FD
 * 1111 1111  1111 1111  1111 1111  1111 1101
 *
 * Bit[6] - 1 --> The exception was taken from the Secure state.
 * Bit[5] - 1 --> Do not skip stacking of additional state context.
 * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context.
 * Bit[3] - 1 --> Return to the Thread mode.
 * Bit[2] - 1 --> Restore registers from the process stack.
 * Bit[1] - 0 --> Reserved, 0.
 * Bit[0] - 1 --> The exception was taken to the Secure state.
 */
    #define portINITIAL_EXC_RETURN    ( 0xfffffffd )
#else

/**
 * @brief Initial EXC_RETURN value.
 *
 *     FF         FF         FF         BC
 * 1111 1111  1111 1111  1111 1111  1011 1100
 *
 * Bit[6] - 0 --> The exception was taken from the Non-Secure state.
 * Bit[5] - 1 --> Do not skip stacking of additional state context.
 * Bit[4] - 1 --> The PE did not allocate space on the stack for FP context.
 * Bit[3] - 1 --> Return to the Thread mode.
 * Bit[2] - 1 --> Restore registers from the process stack.
 * Bit[1] - 0 --> Reserved, 0.
 * Bit[0] - 0 --> The exception was taken to the Non-Secure state.
 */
    #define portINITIAL_EXC_RETURN    ( 0xffffffbc )
#endif /* configRUN_FREERTOS_SECURE_ONLY */

/**
 * @brief CONTROL register privileged bit mask.
 *
 * Bit[0] in CONTROL register tells the privilege:
 *  Bit[0] = 0 ==> The task is privileged.
 *  Bit[0] = 1 ==> The task is not privileged.
 */
#define portCONTROL_PRIVILEGED_MASK         ( 1UL << 0UL )

/**
 * @brief Initial CONTROL register values.
 */
#define portINITIAL_CONTROL_UNPRIVILEGED    ( 0x3 )
#define portINITIAL_CONTROL_PRIVILEGED      ( 0x2 )

/**
 * @brief Let the user override the default SysTick clock rate.  If defined by the
 * user, this symbol must equal the SysTick clock rate when the CLK bit is 0 in the
 * configuration register.
 */
#ifndef configSYSTICK_CLOCK_HZ
    #define configSYSTICK_CLOCK_HZ             ( configCPU_CLOCK_HZ )
    /* Ensure the SysTick is clocked at the same frequency as the core. */
    #define portNVIC_SYSTICK_CLK_BIT_CONFIG    ( portNVIC_SYSTICK_CLK_BIT )
#else
    /* Select the option to clock SysTick not at the same frequency as the core. */
    #define portNVIC_SYSTICK_CLK_BIT_CONFIG    ( 0 )
#endif

/**
 * @brief Let the user override the pre-loading of the initial LR with the
 * address of prvTaskExitError() in case it messes up unwinding of the stack
 * in the debugger.
 */
#ifdef configTASK_RETURN_ADDRESS
    #define portTASK_RETURN_ADDRESS    configTASK_RETURN_ADDRESS
#else
    #define portTASK_RETURN_ADDRESS    prvTaskExitError
#endif

/**
 * @brief If portPRELOAD_REGISTERS then registers will be given an initial value
 * when a task is created. This helps in debugging at the cost of code size.
 */
#define portPRELOAD_REGISTERS    1

/**
 * @brief A task is created without a secure context, and must call
 * portALLOCATE_SECURE_CONTEXT() to give itself a secure context before it makes
 * any secure calls.
 */
#define portNO_SECURE_CONTEXT    0
/*-----------------------------------------------------------*/

#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 || configNUMBER_OF_CORES > 1 )
    #include "hardware/irq.h"
#endif /* ( configSUPPORT_PICO_SYNC_INTEROP == 1 || configNUMBER_OF_CORES > 1 ) */
#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
    #include "pico/lock_core.h"
    #include "event_groups.h"
    #if configSUPPORT_STATIC_ALLOCATION
        static StaticEventGroup_t xStaticEventGroup;
        #define pEventGroup    ( &xStaticEventGroup )
    #endif /* configSUPPORT_STATIC_ALLOCATION */
    static EventGroupHandle_t xEventGroup;
    #if ( configNUMBER_OF_CORES == 1 )
        static EventBits_t uxCrossCoreEventBits;
        static spin_lock_t * pxCrossCoreSpinLock; /* protects uxCrossCoreEventBits */
    #endif
#endif /* configSUPPORT_PICO_SYNC_INTEROP */

/**
 * @brief Used to catch tasks that attempt to return from their implementing
 * function.
 */
static void prvTaskExitError( void );

#if ( configENABLE_MPU == 1 )

/**
 * @brief Extract MPU region's access permissions from the Region Base Address
 * Register (RBAR) value.
 *
 * @param ulRBARValue RBAR value for the MPU region.
 *
 * @return uint32_t Access permissions.
 */
    static uint32_t prvGetRegionAccessPermissions( uint32_t ulRBARValue ) PRIVILEGED_FUNCTION;
#endif /* configENABLE_MPU */

#if ( configENABLE_MPU == 1 )

/**
 * @brief Setup the Memory Protection Unit (MPU).
 */
    static void prvSetupMPU( void ) PRIVILEGED_FUNCTION;
#endif /* configENABLE_MPU */

#if ( configENABLE_FPU == 1 )

/**
 * @brief Setup the Floating Point Unit (FPU).
 */
    static void prvSetupFPU( void ) PRIVILEGED_FUNCTION;
#endif /* configENABLE_FPU */

/**
 * @brief Setup the timer to generate the tick interrupts.
 *
 * The implementation in this file is weak to allow application writers to
 * change the timer used to generate the tick interrupt.
 */
void vPortSetupTimerInterrupt( void ) PRIVILEGED_FUNCTION;

/**
 * @brief Checks whether the current execution context is interrupt.
 *
 * @return pdTRUE if the current execution context is interrupt, pdFALSE
 * otherwise.
 */
BaseType_t xPortIsInsideInterrupt( void );

/**
 * @brief Yield the processor.
 */
void vPortYield( void ) PRIVILEGED_FUNCTION;

/**
 * @brief Enter critical section.
 */
void vPortEnterCritical( void ) PRIVILEGED_FUNCTION;

/**
 * @brief Exit from critical section.
 */
void vPortExitCritical( void ) PRIVILEGED_FUNCTION;

/**
 * @brief SysTick handler.
 */
void SysTick_Handler( void ) PRIVILEGED_FUNCTION;

/**
 * @brief C part of SVC handler.
 */
portDONT_DISCARD void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) PRIVILEGED_FUNCTION;

#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )

/**
 * @brief Sets up the system call stack so that upon returning from
 * SVC, the system call stack is used.
 *
 * @param pulTaskStack The current SP when the SVC was raised.
 * @param ulLR The value of Link Register (EXC_RETURN) in the SVC handler.
 * @param ucSystemCallNumber The system call number of the system call.
 */
    void vSystemCallEnter( uint32_t * pulTaskStack,
                           uint32_t ulLR,
                           uint8_t ucSystemCallNumber ) PRIVILEGED_FUNCTION;

#endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */

#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )

/**
 * @brief Raise SVC for exiting from a system call.
 */
    void vRequestSystemCallExit( void ) __attribute__( ( naked ) ) PRIVILEGED_FUNCTION;

#endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */

#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )

/**
 * @brief Sets up the task stack so that upon returning from
 * SVC, the task stack is used again.
 *
 * @param pulSystemCallStack The current SP when the SVC was raised.
 * @param ulLR The value of Link Register (EXC_RETURN) in the SVC handler.
 */
    void vSystemCallExit( uint32_t * pulSystemCallStack,
                          uint32_t ulLR ) PRIVILEGED_FUNCTION;

#endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */

#if ( configENABLE_MPU == 1 )

/**
 * @brief Checks whether or not the calling task is privileged.
 *
 * @return pdTRUE if the calling task is privileged, pdFALSE otherwise.
 */
    BaseType_t xPortIsTaskPrivileged( void ) PRIVILEGED_FUNCTION;

#endif /* configENABLE_MPU == 1 */
/*-----------------------------------------------------------*/

#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )

/**
 * @brief This variable is set to pdTRUE when the scheduler is started.
 */
    PRIVILEGED_DATA static BaseType_t xSchedulerRunning = pdFALSE;

#endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */

#if ( configENABLE_TRUSTZONE == 1 )

/**
 * @brief Saved as part of the task context to indicate which context the
 * task is using on the secure side.
 */
    PRIVILEGED_DATA portDONT_DISCARD volatile SecureContextHandle_t xSecureContext = portNO_SECURE_CONTEXT;
#endif /* configENABLE_TRUSTZONE */

/**
 * @brief Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure
 * FreeRTOS API functions are not called from interrupts that have been assigned
 * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.
 */
#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )

    static uint8_t ucMaxSysCallPriority = 0;
    static uint32_t ulMaxPRIGROUPValue = 0;
    static const volatile uint8_t * const pcInterruptPriorityRegisters = ( const volatile uint8_t * ) portNVIC_IP_REGISTERS_OFFSET_16;

#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */

#if ( configUSE_TICKLESS_IDLE == 1 )

/**
 * @brief The number of SysTick increments that make up one tick period.
 */
    PRIVILEGED_DATA static uint32_t ulTimerCountsForOneTick = 0;

/**
 * @brief The maximum number of tick periods that can be suppressed is
 * limited by the 24 bit resolution of the SysTick timer.
 */
    PRIVILEGED_DATA static uint32_t xMaximumPossibleSuppressedTicks = 0;

/**
 * @brief Compensate for the CPU cycles that pass while the SysTick is
 * stopped (low power functionality only).
 */
    PRIVILEGED_DATA static uint32_t ulStoppedTimerCompensation = 0;
#endif /* configUSE_TICKLESS_IDLE */

void vPortSetupTimerInterrupt( void ) __attribute__( ( weak ) );

/*-----------------------------------------------------------*/
/**
 * @brief Each task maintains its own interrupt status in the critical nesting
 * variable.
 */
#if ( configNUMBER_OF_CORES == 1 )
PRIVILEGED_DATA static volatile uint32_t ulCriticalNesting = 0xaaaaaaaaUL;
#else /* #if ( configNUMBER_OF_CORES == 1 ) */
PRIVILEGED_DATA volatile uint32_t ulCriticalNestings[ configNUMBER_OF_CORES ] = { 0 };

#endif /* #if ( configNUMBER_OF_CORES == 1 ) */
#if ( configUSE_TICKLESS_IDLE == 1 )

    __attribute__( ( weak ) ) void vPortSuppressTicksAndSleep( TickType_t xExpectedIdleTime )
    {
        uint32_t ulReloadValue, ulCompleteTickPeriods, ulCompletedSysTickDecrements, ulSysTickDecrementsLeft;
        TickType_t xModifiableIdleTime;

        /* Make sure the SysTick reload value does not overflow the counter. */
        if( xExpectedIdleTime > xMaximumPossibleSuppressedTicks )
        {
            xExpectedIdleTime = xMaximumPossibleSuppressedTicks;
        }

        /* Enter a critical section but don't use the taskENTER_CRITICAL()
         * method as that will mask interrupts that should exit sleep mode. */
        __asm volatile ( "cpsid i" ::: "memory" );
        __asm volatile ( "dsb" );
        __asm volatile ( "isb" );

        /* If a context switch is pending or a task is waiting for the scheduler
         * to be unsuspended then abandon the low power entry. */
        if( eTaskConfirmSleepModeStatus() == eAbortSleep )
        {
            /* Re-enable interrupts - see comments above the cpsid instruction
             * above. */
            __asm volatile ( "cpsie i" ::: "memory" );
        }
        else
        {
            /* Stop the SysTick momentarily.  The time the SysTick is stopped for
             * is accounted for as best it can be, but using the tickless mode will
             * inevitably result in some tiny drift of the time maintained by the
             * kernel with respect to calendar time. */
            portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );

            /* Use the SysTick current-value register to determine the number of
             * SysTick decrements remaining until the next tick interrupt.  If the
             * current-value register is zero, then there are actually
             * ulTimerCountsForOneTick decrements remaining, not zero, because the
             * SysTick requests the interrupt when decrementing from 1 to 0. */
            ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;

            if( ulSysTickDecrementsLeft == 0 )
            {
                ulSysTickDecrementsLeft = ulTimerCountsForOneTick;
            }

            /* Calculate the reload value required to wait xExpectedIdleTime
             * tick periods.  -1 is used because this code normally executes part
             * way through the first tick period.  But if the SysTick IRQ is now
             * pending, then clear the IRQ, suppressing the first tick, and correct
             * the reload value to reflect that the second tick period is already
             * underway.  The expected idle time is always at least two ticks. */
            ulReloadValue = ulSysTickDecrementsLeft + ( ulTimerCountsForOneTick * ( xExpectedIdleTime - 1UL ) );

            if( ( portNVIC_INT_CTRL_REG & portNVIC_PEND_SYSTICK_SET_BIT ) != 0 )
            {
                portNVIC_INT_CTRL_REG = portNVIC_PEND_SYSTICK_CLEAR_BIT;
                ulReloadValue -= ulTimerCountsForOneTick;
            }

            if( ulReloadValue > ulStoppedTimerCompensation )
            {
                ulReloadValue -= ulStoppedTimerCompensation;
            }

            /* Set the new reload value. */
            portNVIC_SYSTICK_LOAD_REG = ulReloadValue;

            /* Clear the SysTick count flag and set the count value back to
             * zero. */
            portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;

            /* Restart SysTick. */
            portNVIC_SYSTICK_CTRL_REG |= portNVIC_SYSTICK_ENABLE_BIT;

            /* Sleep until something happens.  configPRE_SLEEP_PROCESSING() can
             * set its parameter to 0 to indicate that its implementation contains
             * its own wait for interrupt or wait for event instruction, and so wfi
             * should not be executed again.  However, the original expected idle
             * time variable must remain unmodified, so a copy is taken. */
            xModifiableIdleTime = xExpectedIdleTime;
            configPRE_SLEEP_PROCESSING( xModifiableIdleTime );

            if( xModifiableIdleTime > 0 )
            {
                __asm volatile ( "dsb" ::: "memory" );
                __asm volatile ( "wfi" );
                __asm volatile ( "isb" );
            }

            configPOST_SLEEP_PROCESSING( xExpectedIdleTime );

            /* Re-enable interrupts to allow the interrupt that brought the MCU
             * out of sleep mode to execute immediately.  See comments above
             * the cpsid instruction above. */
            __asm volatile ( "cpsie i" ::: "memory" );
            __asm volatile ( "dsb" );
            __asm volatile ( "isb" );

            /* Disable interrupts again because the clock is about to be stopped
             * and interrupts that execute while the clock is stopped will increase
             * any slippage between the time maintained by the RTOS and calendar
             * time. */
            __asm volatile ( "cpsid i" ::: "memory" );
            __asm volatile ( "dsb" );
            __asm volatile ( "isb" );

            /* Disable the SysTick clock without reading the
             * portNVIC_SYSTICK_CTRL_REG register to ensure the
             * portNVIC_SYSTICK_COUNT_FLAG_BIT is not cleared if it is set.  Again,
             * the time the SysTick is stopped for is accounted for as best it can
             * be, but using the tickless mode will inevitably result in some tiny
             * drift of the time maintained by the kernel with respect to calendar
             * time*/
            portNVIC_SYSTICK_CTRL_REG = ( portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT );

            /* Determine whether the SysTick has already counted to zero. */
            if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
            {
                uint32_t ulCalculatedLoadValue;

                /* The tick interrupt ended the sleep (or is now pending), and
                 * a new tick period has started.  Reset portNVIC_SYSTICK_LOAD_REG
                 * with whatever remains of the new tick period. */
                ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL ) - ( ulReloadValue - portNVIC_SYSTICK_CURRENT_VALUE_REG );

                /* Don't allow a tiny value, or values that have somehow
                 * underflowed because the post sleep hook did something
                 * that took too long or because the SysTick current-value register
                 * is zero. */
                if( ( ulCalculatedLoadValue <= ulStoppedTimerCompensation ) || ( ulCalculatedLoadValue > ulTimerCountsForOneTick ) )
                {
                    ulCalculatedLoadValue = ( ulTimerCountsForOneTick - 1UL );
                }

                portNVIC_SYSTICK_LOAD_REG = ulCalculatedLoadValue;

                /* As the pending tick will be processed as soon as this
                 * function exits, the tick value maintained by the tick is stepped
                 * forward by one less than the time spent waiting. */
                ulCompleteTickPeriods = xExpectedIdleTime - 1UL;
            }
            else
            {
                /* Something other than the tick interrupt ended the sleep. */

                /* Use the SysTick current-value register to determine the
                 * number of SysTick decrements remaining until the expected idle
                 * time would have ended. */
                ulSysTickDecrementsLeft = portNVIC_SYSTICK_CURRENT_VALUE_REG;
                #if ( portNVIC_SYSTICK_CLK_BIT_CONFIG != portNVIC_SYSTICK_CLK_BIT )
                {
                    /* If the SysTick is not using the core clock, the current-
                     * value register might still be zero here.  In that case, the
                     * SysTick didn't load from the reload register, and there are
                     * ulReloadValue decrements remaining in the expected idle
                     * time, not zero. */
                    if( ulSysTickDecrementsLeft == 0 )
                    {
                        ulSysTickDecrementsLeft = ulReloadValue;
                    }
                }
                #endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */

                /* Work out how long the sleep lasted rounded to complete tick
                 * periods (not the ulReload value which accounted for part
                 * ticks). */
                ulCompletedSysTickDecrements = ( xExpectedIdleTime * ulTimerCountsForOneTick ) - ulSysTickDecrementsLeft;

                /* How many complete tick periods passed while the processor
                 * was waiting? */
                ulCompleteTickPeriods = ulCompletedSysTickDecrements / ulTimerCountsForOneTick;

                /* The reload value is set to whatever fraction of a single tick
                 * period remains. */
                portNVIC_SYSTICK_LOAD_REG = ( ( ulCompleteTickPeriods + 1UL ) * ulTimerCountsForOneTick ) - ulCompletedSysTickDecrements;
            }

            /* Restart SysTick so it runs from portNVIC_SYSTICK_LOAD_REG again,
             * then set portNVIC_SYSTICK_LOAD_REG back to its standard value.  If
             * the SysTick is not using the core clock, temporarily configure it to
             * use the core clock.  This configuration forces the SysTick to load
             * from portNVIC_SYSTICK_LOAD_REG immediately instead of at the next
             * cycle of the other clock.  Then portNVIC_SYSTICK_LOAD_REG is ready
             * to receive the standard value immediately. */
            portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;
            portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
            #if ( portNVIC_SYSTICK_CLK_BIT_CONFIG == portNVIC_SYSTICK_CLK_BIT )
            {
                portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
            }
            #else
            {
                /* The temporary usage of the core clock has served its purpose,
                 * as described above.  Resume usage of the other clock. */
                portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT | portNVIC_SYSTICK_INT_BIT;

                if( ( portNVIC_SYSTICK_CTRL_REG & portNVIC_SYSTICK_COUNT_FLAG_BIT ) != 0 )
                {
                    /* The partial tick period already ended.  Be sure the SysTick
                     * counts it only once. */
                    portNVIC_SYSTICK_CURRENT_VALUE_REG = 0;
                }

                portNVIC_SYSTICK_LOAD_REG = ulTimerCountsForOneTick - 1UL;
                portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
            }
            #endif /* portNVIC_SYSTICK_CLK_BIT_CONFIG */

            /* Step the tick to account for any tick periods that elapsed. */
            vTaskStepTick( ulCompleteTickPeriods );

            /* Exit with interrupts enabled. */
            __asm volatile ( "cpsie i" ::: "memory" );
        }
    }

#endif /* configUSE_TICKLESS_IDLE */
/*-----------------------------------------------------------*/

#define INVALID_PRIMARY_CORE_NUM    0xffu
/* The primary core number (the own which has the SysTick handler) */
static uint8_t ucPrimaryCoreNum = INVALID_PRIMARY_CORE_NUM;
/* Initialize to -1 so that when using INTEROP with SDK and running on one core only, we can tell if this is initialized yet */
static int8_t cDoorbellNum = -1;

/* Note: portIS_FREE_RTOS_CORE() also returns false until the scheduler is started */
#if ( configNUMBER_OF_CORES != 1 )
    #define portIS_FREE_RTOS_CORE()    ( ucPrimaryCoreNum != INVALID_PRIMARY_CORE_NUM )
#else
    #define portIS_FREE_RTOS_CORE()    ( ucPrimaryCoreNum == get_core_num() )
#endif

__attribute__( ( weak ) ) void vPortSetupTimerInterrupt( void ) /* PRIVILEGED_FUNCTION */
{
    /* Calculate the constants required to configure the tick interrupt. */
    #if ( configUSE_TICKLESS_IDLE == 1 )
    {
        ulTimerCountsForOneTick = ( configSYSTICK_CLOCK_HZ / configTICK_RATE_HZ );
        xMaximumPossibleSuppressedTicks = portMAX_24_BIT_NUMBER / ulTimerCountsForOneTick;
        ulStoppedTimerCompensation = portMISSED_COUNTS_FACTOR / ( configCPU_CLOCK_HZ / configSYSTICK_CLOCK_HZ );
    }
    #endif /* configUSE_TICKLESS_IDLE */

    /* Stop and reset SysTick.
     *
     * QEMU versions older than 7.0.0 contain a bug which causes an error if we
     * enable SysTick without first selecting a valid clock source. We trigger
     * the bug if we change clock sources from a clock with a zero clock period
     * to one with a nonzero clock period and enable Systick at the same time.
     * So we configure the CLKSOURCE bit here, prior to setting the ENABLE bit.
     * This workaround avoids the bug in QEMU versions older than 7.0.0. */
    portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG;
    portNVIC_SYSTICK_CURRENT_VALUE_REG = 0UL;

    /* Configure SysTick to interrupt at the requested rate. */
    portNVIC_SYSTICK_LOAD_REG = ( clock_get_hz( clk_sys ) / configTICK_RATE_HZ ) - 1UL;
    portNVIC_SYSTICK_CTRL_REG = portNVIC_SYSTICK_CLK_BIT_CONFIG | portNVIC_SYSTICK_INT_BIT | portNVIC_SYSTICK_ENABLE_BIT;
}
/*-----------------------------------------------------------*/

static void prvTaskExitError( void )
{
    volatile uint32_t ulDummy = 0UL;

    /* A function that implements a task must not exit or attempt to return to
     * its caller as there is nothing to return to. If a task wants to exit it
     * should instead call vTaskDelete( NULL ). Artificially force an assert()
     * to be triggered if configASSERT() is defined, then stop here so
     * application writers can catch the error. */
    configASSERT( portGET_CRITICAL_NESTING_COUNT( portGET_CORE_ID() ) == ~0UL );
    portDISABLE_INTERRUPTS();

    while( ulDummy == 0 )
    {
        /* This file calls prvTaskExitError() after the scheduler has been
         * started to remove a compiler warning about the function being
         * defined but never called.  ulDummy is used purely to quieten other
         * warnings about code appearing after this function is called - making
         * ulDummy volatile makes the compiler think the function could return
         * and therefore not output an 'unreachable code' warning for code that
         * appears after it. */
    }
}
/*-----------------------------------------------------------*/

#if ( configENABLE_MPU == 1 )

    static uint32_t prvGetRegionAccessPermissions( uint32_t ulRBARValue ) /* PRIVILEGED_FUNCTION */
    {
        uint32_t ulAccessPermissions = 0;

        if( ( ulRBARValue & portMPU_RBAR_ACCESS_PERMISSIONS_MASK ) == portMPU_REGION_READ_ONLY )
        {
            ulAccessPermissions = tskMPU_READ_PERMISSION;
        }

        if( ( ulRBARValue & portMPU_RBAR_ACCESS_PERMISSIONS_MASK ) == portMPU_REGION_READ_WRITE )
        {
            ulAccessPermissions = ( tskMPU_READ_PERMISSION | tskMPU_WRITE_PERMISSION );
        }

        return ulAccessPermissions;
    }

#endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/

#if ( configENABLE_MPU == 1 )

    static void prvSetupMPU( void ) /* PRIVILEGED_FUNCTION */
    {
        #if defined( __ARMCC_VERSION )

            /* Declaration when these variable are defined in code instead of being
             * exported from linker scripts. */
            extern uint32_t * __privileged_functions_start__;
            extern uint32_t * __privileged_functions_end__;
            extern uint32_t * __syscalls_flash_start__;
            extern uint32_t * __syscalls_flash_end__;
            extern uint32_t * __unprivileged_flash_start__;
            extern uint32_t * __unprivileged_flash_end__;
            extern uint32_t * __privileged_sram_start__;
            extern uint32_t * __privileged_sram_end__;
        #else /* if defined( __ARMCC_VERSION ) */
            /* Declaration when these variable are exported from linker scripts. */
            extern uint32_t __privileged_functions_start__[];
            extern uint32_t __privileged_functions_end__[];
            extern uint32_t __syscalls_flash_start__[];
            extern uint32_t __syscalls_flash_end__[];
            extern uint32_t __unprivileged_flash_start__[];
            extern uint32_t __unprivileged_flash_end__[];
            extern uint32_t __privileged_sram_start__[];
            extern uint32_t __privileged_sram_end__[];
        #endif /* defined( __ARMCC_VERSION ) */

        /* The only permitted number of regions are 8 or 16. */
        configASSERT( ( configTOTAL_MPU_REGIONS == 8 ) || ( configTOTAL_MPU_REGIONS == 16 ) );

        /* Ensure that the configTOTAL_MPU_REGIONS is configured correctly. */
        configASSERT( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE );

        /* Check that the MPU is present. */
        if( portMPU_TYPE_REG == portEXPECTED_MPU_TYPE_VALUE )
        {
            /* MAIR0 - Index 0. */
            portMPU_MAIR0_REG |= ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK );
            /* MAIR0 - Index 1. */
            portMPU_MAIR0_REG |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK );

            /* Setup privileged flash as Read Only so that privileged tasks can
             * read it but not modify. */
            portMPU_RNR_REG = portPRIVILEGED_FLASH_REGION;
            portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_functions_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
                               ( portMPU_REGION_NON_SHAREABLE ) |
                               ( portMPU_REGION_PRIVILEGED_READ_ONLY );
            portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_functions_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
                               ( portMPU_RLAR_ATTR_INDEX0 ) |
                               ( portMPU_RLAR_REGION_ENABLE );

            /* Setup unprivileged flash as Read Only by both privileged and
             * unprivileged tasks. All tasks can read it but no-one can modify. */
            portMPU_RNR_REG = portUNPRIVILEGED_FLASH_REGION;
            portMPU_RBAR_REG = ( ( ( uint32_t ) __unprivileged_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
                               ( portMPU_REGION_NON_SHAREABLE ) |
                               ( portMPU_REGION_READ_ONLY );
            portMPU_RLAR_REG = ( ( ( uint32_t ) __unprivileged_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
                               ( portMPU_RLAR_ATTR_INDEX0 ) |
                               ( portMPU_RLAR_REGION_ENABLE );

            /* Setup unprivileged syscalls flash as Read Only by both privileged
             * and unprivileged tasks. All tasks can read it but no-one can modify. */
            portMPU_RNR_REG = portUNPRIVILEGED_SYSCALLS_REGION;
            portMPU_RBAR_REG = ( ( ( uint32_t ) __syscalls_flash_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
                               ( portMPU_REGION_NON_SHAREABLE ) |
                               ( portMPU_REGION_READ_ONLY );
            portMPU_RLAR_REG = ( ( ( uint32_t ) __syscalls_flash_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
                               ( portMPU_RLAR_ATTR_INDEX0 ) |
                               ( portMPU_RLAR_REGION_ENABLE );

            /* Setup RAM containing kernel data for privileged access only. */
            portMPU_RNR_REG = portPRIVILEGED_RAM_REGION;
            portMPU_RBAR_REG = ( ( ( uint32_t ) __privileged_sram_start__ ) & portMPU_RBAR_ADDRESS_MASK ) |
                               ( portMPU_REGION_NON_SHAREABLE ) |
                               ( portMPU_REGION_PRIVILEGED_READ_WRITE ) |
                               ( portMPU_REGION_EXECUTE_NEVER );
            portMPU_RLAR_REG = ( ( ( uint32_t ) __privileged_sram_end__ ) & portMPU_RLAR_ADDRESS_MASK ) |
                               ( portMPU_RLAR_ATTR_INDEX0 ) |
                               ( portMPU_RLAR_REGION_ENABLE );

            /* Enable mem fault. */
            portSCB_SYS_HANDLER_CTRL_STATE_REG |= portSCB_MEM_FAULT_ENABLE_BIT;

            /* Enable MPU with privileged background access i.e. unmapped
             * regions have privileged access. */
            portMPU_CTRL_REG |= ( portMPU_PRIV_BACKGROUND_ENABLE_BIT | portMPU_ENABLE_BIT );
        }
    }

#endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/

#if ( configENABLE_FPU == 1 )

    static void prvSetupFPU( void ) /* PRIVILEGED_FUNCTION */
    {
        #if ( configENABLE_TRUSTZONE == 1 )
        {
            /* Enable non-secure access to the FPU. */
            SecureInit_EnableNSFPUAccess();
        }
        #endif /* configENABLE_TRUSTZONE */

        /* CP10 = 11 ==> Full access to FPU i.e. both privileged and
         * unprivileged code should be able to access FPU. CP11 should be
         * programmed to the same value as CP10. */
        *( portCPACR ) |= ( ( portCPACR_CP10_VALUE << portCPACR_CP10_POS ) |
                            ( portCPACR_CP11_VALUE << portCPACR_CP11_POS )
                            );

        /* ASPEN = 1 ==> Hardware should automatically preserve floating point
         * context on exception entry and restore on exception return.
         * LSPEN = 1 ==> Enable lazy context save of FP state. */
        *( portFPCCR ) |= ( portFPCCR_ASPEN_MASK | portFPCCR_LSPEN_MASK );
    }

#endif /* configENABLE_FPU */
/*-----------------------------------------------------------*/

void vPortYield( void ) /* PRIVILEGED_FUNCTION */
{
    /* Set a PendSV to request a context switch. */
    portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;

    /* Barriers are normally not required but do ensure the code is
     * completely within the specified behaviour for the architecture. */
    __asm volatile ( "dsb" ::: "memory" );
    __asm volatile ( "isb" );
}
/*-----------------------------------------------------------*/

void vPortEnterCritical( void ) /* PRIVILEGED_FUNCTION */
{
    portDISABLE_INTERRUPTS();
#if configNUMBER_OF_CORES == 1
    ulCriticalNesting++;
#else
    ulCriticalNestings[portGET_CORE_ID()]++;
#endif

    /* Barriers are normally not required but do ensure the code is
     * completely within the specified behaviour for the architecture. */
    __asm volatile ( "dsb" ::: "memory" );
    __asm volatile ( "isb" );
}
/*-----------------------------------------------------------*/

void vPortExitCritical( void ) /* PRIVILEGED_FUNCTION */
{
#if configNUMBER_OF_CORES == 1
    configASSERT( ulCriticalNesting );
    ulCriticalNesting--;

    if( ulCriticalNesting == 0 )
    {
        portENABLE_INTERRUPTS();
    }
#else
    uint32_t ulCoreId = portGET_CORE_ID();
    configASSERT( ulCriticalNestings[ulCoreId] );
    ulCriticalNestings[ulCoreId]--;
    if( ulCriticalNestings[ulCoreId] == 0 )
    {
        portENABLE_INTERRUPTS();
    }
#endif
}

/*-----------------------------------------------------------*/

void SysTick_Handler( void ) /* PRIVILEGED_FUNCTION */
{
    uint32_t ulPreviousMask;

    ulPreviousMask = taskENTER_CRITICAL_FROM_ISR();
    traceISR_ENTER();
    {
        /* Increment the RTOS tick. */
        if( xTaskIncrementTick() != pdFALSE )
        {
            traceISR_EXIT_TO_SCHEDULER();
            /* Pend a context switch. */
            portNVIC_INT_CTRL_REG = portNVIC_PENDSVSET_BIT;
        }
        else
        {
            traceISR_EXIT();
        }
    }
    taskEXIT_CRITICAL_FROM_ISR( ulPreviousMask );
}


/*-----------------------------------------------------------*/

void vPortSVCHandler_C( uint32_t * pulCallerStackAddress ) /* PRIVILEGED_FUNCTION portDONT_DISCARD */
{
    #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) )
        #if defined( __ARMCC_VERSION )

            /* Declaration when these variable are defined in code instead of being
             * exported from linker scripts. */
            extern uint32_t * __syscalls_flash_start__;
            extern uint32_t * __syscalls_flash_end__;
        #else
            /* Declaration when these variable are exported from linker scripts. */
            extern uint32_t __syscalls_flash_start__[];
            extern uint32_t __syscalls_flash_end__[];
        #endif /* defined( __ARMCC_VERSION ) */
    #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) */

    uint32_t ulPC;

    #if ( configENABLE_TRUSTZONE == 1 )
        uint32_t ulR0, ulR1;
        extern TaskHandle_t pxCurrentTCB;
        #if ( configENABLE_MPU == 1 )
            uint32_t ulControl, ulIsTaskPrivileged;
        #endif /* configENABLE_MPU */
    #endif /* configENABLE_TRUSTZONE */
    uint8_t ucSVCNumber;

    /* Register are stored on the stack in the following order - R0, R1, R2, R3,
     * R12, LR, PC, xPSR. */
    ulPC = pulCallerStackAddress[ portOFFSET_TO_PC ];
    ucSVCNumber = ( ( uint8_t * ) ulPC )[ -2 ];

    switch( ucSVCNumber )
    {
        #if ( configENABLE_TRUSTZONE == 1 )
            case portSVC_ALLOCATE_SECURE_CONTEXT:

                /* R0 contains the stack size passed as parameter to the
                 * vPortAllocateSecureContext function. */
                ulR0 = pulCallerStackAddress[ 0 ];

                #if ( configENABLE_MPU == 1 )
                {
                    /* Read the CONTROL register value. */
                    __asm volatile ( "mrs %0, control"  : "=r" ( ulControl ) );

                    /* The task that raised the SVC is privileged if Bit[0]
                     * in the CONTROL register is 0. */
                    ulIsTaskPrivileged = ( ( ulControl & portCONTROL_PRIVILEGED_MASK ) == 0 );

                    /* Allocate and load a context for the secure task. */
                    xSecureContext = SecureContext_AllocateContext( ulR0, ulIsTaskPrivileged, pxCurrentTCB );
                }
                #else /* if ( configENABLE_MPU == 1 ) */
                {
                    /* Allocate and load a context for the secure task. */
                    xSecureContext = SecureContext_AllocateContext( ulR0, pxCurrentTCB );
                }
                #endif /* configENABLE_MPU */

                configASSERT( xSecureContext != securecontextINVALID_CONTEXT_ID );
                SecureContext_LoadContext( xSecureContext, pxCurrentTCB );
                break;

            case portSVC_FREE_SECURE_CONTEXT:

                /* R0 contains TCB being freed and R1 contains the secure
                 * context handle to be freed. */
                ulR0 = pulCallerStackAddress[ 0 ];
                ulR1 = pulCallerStackAddress[ 1 ];

                /* Free the secure context. */
                SecureContext_FreeContext( ( SecureContextHandle_t ) ulR1, ( void * ) ulR0 );
                break;
        #endif /* configENABLE_TRUSTZONE */

        case portSVC_START_SCHEDULER:
            #if ( configENABLE_TRUSTZONE == 1 )
            {
                /* De-prioritize the non-secure exceptions so that the
                 * non-secure pendSV runs at the lowest priority. */
                SecureInit_DePrioritizeNSExceptions();

                /* Initialize the secure context management system. */
                SecureContext_Init();
            }
            #endif /* configENABLE_TRUSTZONE */

            #if ( configENABLE_FPU == 1 )
            {
                /* Setup the Floating Point Unit (FPU). */
                prvSetupFPU();
            }
            #endif /* configENABLE_FPU */

            /* Setup the context of the first task so that the first task starts
             * executing. */
            vRestoreContextOfFirstTask();
            break;

            #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) )
                case portSVC_RAISE_PRIVILEGE:

                    /* Only raise the privilege, if the svc was raised from any of
                     * the system calls. */
                    if( ( ulPC >= ( uint32_t ) __syscalls_flash_start__ ) &&
                        ( ulPC <= ( uint32_t ) __syscalls_flash_end__ ) )
                    {
                        vRaisePrivilege();
                    }
                    break;
            #endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 1 ) */

            #if ( configENABLE_MPU == 1 )
                case portSVC_YIELD:
                    vPortYield();
                    break;
            #endif /* configENABLE_MPU == 1 */

        default:
            /* Incorrect SVC call. */
            configASSERT( pdFALSE );
    }
}
/*-----------------------------------------------------------*/

#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )

    void vSystemCallEnter( uint32_t * pulTaskStack,
                           uint32_t ulLR,
                           uint8_t ucSystemCallNumber ) /* PRIVILEGED_FUNCTION */
    {
        extern TaskHandle_t pxCurrentTCB;
        extern UBaseType_t uxSystemCallImplementations[ NUM_SYSTEM_CALLS ];
        xMPU_SETTINGS * pxMpuSettings;
        uint32_t * pulSystemCallStack;
        uint32_t ulStackFrameSize, ulSystemCallLocation, i;

        #if defined( __ARMCC_VERSION )
            /* Declaration when these variable are defined in code instead of being
             * exported from linker scripts. */
            extern uint32_t * __syscalls_flash_start__;
            extern uint32_t * __syscalls_flash_end__;
        #else
            /* Declaration when these variable are exported from linker scripts. */
            extern uint32_t __syscalls_flash_start__[];
            extern uint32_t __syscalls_flash_end__[];
        #endif /* #if defined( __ARMCC_VERSION ) */

        ulSystemCallLocation = pulTaskStack[ portOFFSET_TO_PC ];
        pxMpuSettings = xTaskGetMPUSettings( pxCurrentTCB );

        /* Checks:
         * 1. SVC is raised from the system call section (i.e. application is
         *    not raising SVC directly).
         * 2. pxMpuSettings->xSystemCallStackInfo.pulTaskStack must be NULL as
         *    it is non-NULL only during the execution of a system call (i.e.
         *    between system call enter and exit).
         * 3. System call is not for a kernel API disabled by the configuration
         *    in FreeRTOSConfig.h.
         * 4. We do not need to check that ucSystemCallNumber is within range
         *    because the assembly SVC handler checks that before calling
         *    this function.
         */
        if( ( ulSystemCallLocation >= ( uint32_t ) __syscalls_flash_start__ ) &&
            ( ulSystemCallLocation <= ( uint32_t ) __syscalls_flash_end__ ) &&
            ( pxMpuSettings->xSystemCallStackInfo.pulTaskStack == NULL ) &&
            ( uxSystemCallImplementations[ ucSystemCallNumber ] != ( UBaseType_t ) 0 ) )
        {
            pulSystemCallStack = pxMpuSettings->xSystemCallStackInfo.pulSystemCallStack;

            #if ( ( configENABLE_FPU == 1 ) || ( configENABLE_MVE == 1 ) )
            {
                if( ( ulLR & portEXC_RETURN_STACK_FRAME_TYPE_MASK ) == 0UL )
                {
                    /* Extended frame i.e. FPU in use. */
                    ulStackFrameSize = 26;
                    __asm volatile (
                        " vpush {s0}         \n" /* Trigger lazy stacking. */
                        " vpop  {s0}         \n" /* Nullify the affect of the above instruction. */
                        ::: "memory"
                        );
                }
                else
                {
                    /* Standard frame i.e. FPU not in use. */
                    ulStackFrameSize = 8;
                }
            }
            #else /* if ( ( configENABLE_FPU == 1 ) || ( configENABLE_MVE == 1 ) ) */
            {
                ulStackFrameSize = 8;
            }
            #endif /* configENABLE_FPU || configENABLE_MVE */

            /* Make space on the system call stack for the stack frame. */
            pulSystemCallStack = pulSystemCallStack - ulStackFrameSize;

            /* Copy the stack frame. */
            for( i = 0; i < ulStackFrameSize; i++ )
            {
                pulSystemCallStack[ i ] = pulTaskStack[ i ];
            }

            /* Store the value of the Link Register before the SVC was raised.
             * It contains the address of the caller of the System Call entry
             * point (i.e. the caller of the MPU_<API>). We need to restore it
             * when we exit from the system call. */
            pxMpuSettings->xSystemCallStackInfo.ulLinkRegisterAtSystemCallEntry = pulTaskStack[ portOFFSET_TO_LR ];
            /* Store the value of the PSPLIM register before the SVC was raised.
             * We need to restore it when we exit from the system call. */
            #if ( portUSE_PSPLIM_REGISTER == 1 )
            {
                __asm volatile ( "mrs %0, psplim" : "=r" ( pxMpuSettings->xSystemCallStackInfo.ulStackLimitRegisterAtSystemCallEntry ) );
            }
            #endif

            /* Use the pulSystemCallStack in thread mode. */
            __asm volatile ( "msr psp, %0" : : "r" ( pulSystemCallStack ) );
            #if ( portUSE_PSPLIM_REGISTER == 1 )
            {
                __asm volatile ( "msr psplim, %0" : : "r" ( pxMpuSettings->xSystemCallStackInfo.pulSystemCallStackLimit ) );
            }
            #endif

            /* Start executing the system call upon returning from this handler. */
            pulSystemCallStack[ portOFFSET_TO_PC ] = uxSystemCallImplementations[ ucSystemCallNumber ];
            /* Raise a request to exit from the system call upon finishing the
             * system call. */
            pulSystemCallStack[ portOFFSET_TO_LR ] = ( uint32_t ) vRequestSystemCallExit;

            /* Remember the location where we should copy the stack frame when we exit from
             * the system call. */
            pxMpuSettings->xSystemCallStackInfo.pulTaskStack = pulTaskStack + ulStackFrameSize;

            /* Record if the hardware used padding to force the stack pointer
             * to be double word aligned. */
            if( ( pulTaskStack[ portOFFSET_TO_PSR ] & portPSR_STACK_PADDING_MASK ) == portPSR_STACK_PADDING_MASK )
            {
                pxMpuSettings->ulTaskFlags |= portSTACK_FRAME_HAS_PADDING_FLAG;
            }
            else
            {
                pxMpuSettings->ulTaskFlags &= ( ~portSTACK_FRAME_HAS_PADDING_FLAG );
            }

            /* We ensure in pxPortInitialiseStack that the system call stack is
             * double word aligned and therefore, there is no need of padding.
             * Clear the bit[9] of stacked xPSR. */
            pulSystemCallStack[ portOFFSET_TO_PSR ] &= ( ~portPSR_STACK_PADDING_MASK );

            /* Raise the privilege for the duration of the system call. */
            __asm volatile (
                " mrs r0, control     \n" /* Obtain current control value. */
                " movs r1, #1         \n" /* r1 = 1. */
                " bics r0, r1         \n" /* Clear nPRIV bit. */
                " msr control, r0     \n" /* Write back new control value. */
                ::: "r0", "r1", "memory"
                );
        }
    }

#endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/*-----------------------------------------------------------*/

#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )

    void vRequestSystemCallExit( void ) /* __attribute__( ( naked ) ) PRIVILEGED_FUNCTION */
    {
        __asm volatile ( "svc %0 \n" ::"i" ( portSVC_SYSTEM_CALL_EXIT ) : "memory" );
    }

#endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/*-----------------------------------------------------------*/

#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )

    void vSystemCallExit( uint32_t * pulSystemCallStack,
                          uint32_t ulLR ) /* PRIVILEGED_FUNCTION */
    {
        extern TaskHandle_t pxCurrentTCB;
        xMPU_SETTINGS * pxMpuSettings;
        uint32_t * pulTaskStack;
        uint32_t ulStackFrameSize, ulSystemCallLocation, i;

        #if defined( __ARMCC_VERSION )
            /* Declaration when these variable are defined in code instead of being
             * exported from linker scripts. */
            extern uint32_t * __privileged_functions_start__;
            extern uint32_t * __privileged_functions_end__;
        #else
            /* Declaration when these variable are exported from linker scripts. */
            extern uint32_t __privileged_functions_start__[];
            extern uint32_t __privileged_functions_end__[];
        #endif /* #if defined( __ARMCC_VERSION ) */

        ulSystemCallLocation = pulSystemCallStack[ portOFFSET_TO_PC ];
        pxMpuSettings = xTaskGetMPUSettings( pxCurrentTCB );

        /* Checks:
         * 1. SVC is raised from the privileged code (i.e. application is not
         *    raising SVC directly). This SVC is only raised from
         *    vRequestSystemCallExit which is in the privileged code section.
         * 2. pxMpuSettings->xSystemCallStackInfo.pulTaskStack must not be NULL -
         *    this means that we previously entered a system call and the
         *    application is not attempting to exit without entering a system
         *    call.
         */
        if( ( ulSystemCallLocation >= ( uint32_t ) __privileged_functions_start__ ) &&
            ( ulSystemCallLocation <= ( uint32_t ) __privileged_functions_end__ ) &&
            ( pxMpuSettings->xSystemCallStackInfo.pulTaskStack != NULL ) )
        {
            pulTaskStack = pxMpuSettings->xSystemCallStackInfo.pulTaskStack;

            #if ( ( configENABLE_FPU == 1 ) || ( configENABLE_MVE == 1 ) )
            {
                if( ( ulLR & portEXC_RETURN_STACK_FRAME_TYPE_MASK ) == 0UL )
                {
                    /* Extended frame i.e. FPU in use. */
                    ulStackFrameSize = 26;
                    __asm volatile (
                        " vpush {s0}         \n" /* Trigger lazy stacking. */
                        " vpop  {s0}         \n" /* Nullify the affect of the above instruction. */
                        ::: "memory"
                        );
                }
                else
                {
                    /* Standard frame i.e. FPU not in use. */
                    ulStackFrameSize = 8;
                }
            }
            #else /* if ( ( configENABLE_FPU == 1 ) || ( configENABLE_MVE == 1 ) ) */
            {
                ulStackFrameSize = 8;
            }
            #endif /* configENABLE_FPU || configENABLE_MVE */

            /* Make space on the task stack for the stack frame. */
            pulTaskStack = pulTaskStack - ulStackFrameSize;

            /* Copy the stack frame. */
            for( i = 0; i < ulStackFrameSize; i++ )
            {
                pulTaskStack[ i ] = pulSystemCallStack[ i ];
            }

            /* Use the pulTaskStack in thread mode. */
            __asm volatile ( "msr psp, %0" : : "r" ( pulTaskStack ) );

            /* Return to the caller of the System Call entry point (i.e. the
             * caller of the MPU_<API>). */
            pulTaskStack[ portOFFSET_TO_PC ] = pxMpuSettings->xSystemCallStackInfo.ulLinkRegisterAtSystemCallEntry;
            /* Ensure that LR has a valid value.*/
            pulTaskStack[ portOFFSET_TO_LR ] = pxMpuSettings->xSystemCallStackInfo.ulLinkRegisterAtSystemCallEntry;

            /* Restore the PSPLIM register to what it was at the time of
             * system call entry. */
            #if ( portUSE_PSPLIM_REGISTER == 1 )
            {
                __asm volatile ( "msr psplim, %0" : : "r" ( pxMpuSettings->xSystemCallStackInfo.ulStackLimitRegisterAtSystemCallEntry ) );
            }
            #endif

            /* If the hardware used padding to force the stack pointer
             * to be double word aligned, set the stacked xPSR bit[9],
             * otherwise clear it. */
            if( ( pxMpuSettings->ulTaskFlags & portSTACK_FRAME_HAS_PADDING_FLAG ) == portSTACK_FRAME_HAS_PADDING_FLAG )
            {
                pulTaskStack[ portOFFSET_TO_PSR ] |= portPSR_STACK_PADDING_MASK;
            }
            else
            {
                pulTaskStack[ portOFFSET_TO_PSR ] &= ( ~portPSR_STACK_PADDING_MASK );
            }

            /* This is not NULL only for the duration of the system call. */
            pxMpuSettings->xSystemCallStackInfo.pulTaskStack = NULL;

            /* Drop the privilege before returning to the thread mode. */
            __asm volatile (
                " mrs r0, control     \n" /* Obtain current control value. */
                " movs r1, #1         \n" /* r1 = 1. */
                " orrs r0, r1         \n" /* Set nPRIV bit. */
                " msr control, r0     \n" /* Write back new control value. */
                ::: "r0", "r1", "memory"
                );
        }
    }

#endif /* ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/*-----------------------------------------------------------*/

#if ( configENABLE_MPU == 1 )

    BaseType_t xPortIsTaskPrivileged( void ) /* PRIVILEGED_FUNCTION */
    {
        BaseType_t xTaskIsPrivileged = pdFALSE;
        const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */

        if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
        {
            xTaskIsPrivileged = pdTRUE;
        }

        return xTaskIsPrivileged;
    }

#endif /* configENABLE_MPU == 1 */
/*-----------------------------------------------------------*/

#if ( configENABLE_MPU == 1 )

    StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
                                         StackType_t * pxEndOfStack,
                                         TaskFunction_t pxCode,
                                         void * pvParameters,
                                         BaseType_t xRunPrivileged,
                                         xMPU_SETTINGS * xMPUSettings ) /* PRIVILEGED_FUNCTION */
    {
        uint32_t ulIndex = 0;

        xMPUSettings->ulContext[ ulIndex ] = 0x04040404; /* r4. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = 0x05050505; /* r5. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = 0x06060606; /* r6. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = 0x07070707; /* r7. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = 0x08080808; /* r8. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = 0x09090909; /* r9. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = 0x10101010; /* r10. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = 0x11111111; /* r11. */
        ulIndex++;

        xMPUSettings->ulContext[ ulIndex ] = ( uint32_t ) pvParameters;            /* r0. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = 0x01010101;                           /* r1. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = 0x02020202;                           /* r2. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = 0x03030303;                           /* r3. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = 0x12121212;                           /* r12. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = ( uint32_t ) portTASK_RETURN_ADDRESS; /* LR. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = ( uint32_t ) pxCode;                  /* PC. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = portINITIAL_XPSR;                     /* xPSR. */
        ulIndex++;

        #if ( configENABLE_TRUSTZONE == 1 )
        {
            xMPUSettings->ulContext[ ulIndex ] = portNO_SECURE_CONTEXT; /* xSecureContext. */
            ulIndex++;
        }
        #endif /* configENABLE_TRUSTZONE */
        xMPUSettings->ulContext[ ulIndex ] = ( uint32_t ) ( pxTopOfStack - 8 ); /* PSP with the hardware saved stack. */
        ulIndex++;
        xMPUSettings->ulContext[ ulIndex ] = ( uint32_t ) pxEndOfStack;         /* PSPLIM. */
        ulIndex++;

        if( xRunPrivileged == pdTRUE )
        {
            xMPUSettings->ulTaskFlags |= portTASK_IS_PRIVILEGED_FLAG;
            xMPUSettings->ulContext[ ulIndex ] = ( uint32_t ) portINITIAL_CONTROL_PRIVILEGED; /* CONTROL. */
            ulIndex++;
        }
        else
        {
            xMPUSettings->ulTaskFlags &= ( ~portTASK_IS_PRIVILEGED_FLAG );
            xMPUSettings->ulContext[ ulIndex ] = ( uint32_t ) portINITIAL_CONTROL_UNPRIVILEGED; /* CONTROL. */
            ulIndex++;
        }

        xMPUSettings->ulContext[ ulIndex ] = portINITIAL_EXC_RETURN; /* LR (EXC_RETURN). */
        ulIndex++;

        #if ( configUSE_MPU_WRAPPERS_V1 == 0 )
        {
            /* Ensure that the system call stack is double word aligned. */
            xMPUSettings->xSystemCallStackInfo.pulSystemCallStack = &( xMPUSettings->xSystemCallStackInfo.ulSystemCallStackBuffer[ configSYSTEM_CALL_STACK_SIZE - 1 ] );
            xMPUSettings->xSystemCallStackInfo.pulSystemCallStack = ( uint32_t * ) ( ( uint32_t ) ( xMPUSettings->xSystemCallStackInfo.pulSystemCallStack ) &
                                                                                     ( uint32_t ) ( ~( portBYTE_ALIGNMENT_MASK ) ) );

            xMPUSettings->xSystemCallStackInfo.pulSystemCallStackLimit = &( xMPUSettings->xSystemCallStackInfo.ulSystemCallStackBuffer[ 0 ] );
            xMPUSettings->xSystemCallStackInfo.pulSystemCallStackLimit = ( uint32_t * ) ( ( ( uint32_t ) ( xMPUSettings->xSystemCallStackInfo.pulSystemCallStackLimit ) +
                                                                                            ( uint32_t ) ( portBYTE_ALIGNMENT - 1 ) ) &
                                                                                          ( uint32_t ) ( ~( portBYTE_ALIGNMENT_MASK ) ) );

            /* This is not NULL only for the duration of a system call. */
            xMPUSettings->xSystemCallStackInfo.pulTaskStack = NULL;
        }
        #endif /* configUSE_MPU_WRAPPERS_V1 == 0 */

        return &( xMPUSettings->ulContext[ ulIndex ] );
    }

#else /* configENABLE_MPU */

    StackType_t * pxPortInitialiseStack( StackType_t * pxTopOfStack,
                                         StackType_t * pxEndOfStack,
                                         TaskFunction_t pxCode,
                                         void * pvParameters ) /* PRIVILEGED_FUNCTION */
    {
        /* Simulate the stack frame as it would be created by a context switch
         * interrupt. */
        #if ( portPRELOAD_REGISTERS == 0 )
        {
            pxTopOfStack--;                                          /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
            *pxTopOfStack = portINITIAL_XPSR;                        /* xPSR. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) pxCode;                  /* PC. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR. */
            pxTopOfStack -= 5;                                       /* R12, R3, R2 and R1. */
            *pxTopOfStack = ( StackType_t ) pvParameters;            /* R0. */
            pxTopOfStack -= 9;                                       /* R11..R4, EXC_RETURN. */
            *pxTopOfStack = portINITIAL_EXC_RETURN;
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) pxEndOfStack; /* Slot used to hold this task's PSPLIM value. */

            #if ( configENABLE_TRUSTZONE == 1 )
            {
                pxTopOfStack--;
                *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
            }
            #endif /* configENABLE_TRUSTZONE */
        }
        #else /* portPRELOAD_REGISTERS */
        {
            pxTopOfStack--;                                          /* Offset added to account for the way the MCU uses the stack on entry/exit of interrupts. */
            *pxTopOfStack = portINITIAL_XPSR;                        /* xPSR. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) pxCode;                  /* PC. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) portTASK_RETURN_ADDRESS; /* LR. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x12121212UL;            /* R12. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x03030303UL;            /* R3. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x02020202UL;            /* R2. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x01010101UL;            /* R1. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) pvParameters;            /* R0. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x11111111UL;            /* R11. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x10101010UL;            /* R10. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x09090909UL;            /* R09. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x08080808UL;            /* R08. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x07070707UL;            /* R07. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x06060606UL;            /* R06. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x05050505UL;            /* R05. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) 0x04040404UL;            /* R04. */
            pxTopOfStack--;
            *pxTopOfStack = portINITIAL_EXC_RETURN;                  /* EXC_RETURN. */
            pxTopOfStack--;
            *pxTopOfStack = ( StackType_t ) pxEndOfStack;            /* Slot used to hold this task's PSPLIM value. */

            #if ( configENABLE_TRUSTZONE == 1 )
            {
                pxTopOfStack--;
                *pxTopOfStack = portNO_SECURE_CONTEXT; /* Slot used to hold this task's xSecureContext value. */
            }
            #endif /* configENABLE_TRUSTZONE */
        }
        #endif /* portPRELOAD_REGISTERS */

        return pxTopOfStack;
    }

#endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/

#if ( LIB_PICO_MULTICORE == 1 ) && ( configSUPPORT_PICO_SYNC_INTEROP == 1 || configNUMBER_OF_CORES > 1)
    static void prvDoorbellInterruptHandler()
    {
        if (cDoorbellNum >= 0 && multicore_doorbell_is_set_current_core(cDoorbellNum))
        {
            multicore_doorbell_clear_current_core(cDoorbellNum);
            #if ( configNUMBER_OF_CORES != 1 )
                portYIELD_FROM_ISR( pdTRUE );
            #elif ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
                BaseType_t xHigherPriorityTaskWoken = pdFALSE;
                uint32_t ulSave = spin_lock_blocking( pxCrossCoreSpinLock );
                EventBits_t ulBits = uxCrossCoreEventBits;
                uxCrossCoreEventBits = 0;
                spin_unlock( pxCrossCoreSpinLock, ulSave );
                xEventGroupSetBitsFromISR( xEventGroup, ulBits, &xHigherPriorityTaskWoken );
                portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
            #endif /* configNUMBER_OF_CORES != 1 */
        }
    }
#endif /* ( LIB_PICO_MULTICORE == 1 ) && ( configSUPPORT_PICO_SYNC_INTEROP == 1 || configNUMBER_OF_CORES > 1) */

#if ( configNUMBER_OF_CORES > 1 )
    static BaseType_t xPortStartSchedulerOnCore( void ) /* PRIVILEGED_FUNCTION */
    {
        /* An application can install FreeRTOS interrupt handlers in one of the
         * following ways:
         * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
         *    for SVCall and PendSV interrupts respectively.
         * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
         *    interrupts and route program control from those handlers to
         *    SVC_Handler and PendSV_Handler functions.
         *
         * Applications that use Indirect Routing must set
         * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
         * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
         * is 1, should be preferred when possible. */
        #if ( configCHECK_HANDLER_INSTALLATION == 1 && configUSE_DYNAMIC_EXCEPTION_HANDLERS == 0)
        {
            const portISR_t * const pxVectorTable = portSCB_VTOR_REG;

            /* Validate that the application has correctly installed the FreeRTOS
             * handlers for SVCall and PendSV interrupts. We do not check the
             * installation of the SysTick handler because the application may
             * choose to drive the RTOS tick using a timer other than the SysTick
             * timer by overriding the weak function vPortSetupTimerInterrupt().
             *
             * Assertion failures here indicate incorrect installation of the
             * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
             * https://www.FreeRTOS.org/FAQHelp.html.
             *
             * Systems with a configurable address for the interrupt vector table
             * can also encounter assertion failures or even system faults here if
             * VTOR is not set correctly to point to the application's vector table. */
            configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
            configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
        }
        #endif /* configCHECK_HANDLER_INSTALLATION */

        #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
        {
            volatile uint32_t ulImplementedPrioBits = 0;
            volatile uint8_t ucMaxPriorityValue;

            /* Determine the maximum priority from which ISR safe FreeRTOS API
             * functions can be called. ISR safe functions are those that end in
             * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
             * ensure interrupt entry is as fast and simple as possible.
             *
             * First, determine the number of priority bits available. Write to all
             * possible bits in the priority setting for SVCall. */
            portNVIC_SHPR2_REG = 0xFF000000;

            /* Read the value back to see how many bits stuck. */
            ucMaxPriorityValue = ( uint8_t ) ( ( portNVIC_SHPR2_REG & 0xFF000000 ) >> 24 );

            /* Use the same mask on the maximum system call priority. */
            ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;

            /* Check that the maximum system call priority is nonzero after
             * accounting for the number of priority bits supported by the
             * hardware. A priority of 0 is invalid because setting the BASEPRI
             * register to 0 unmasks all interrupts, and interrupts with priority 0
             * cannot be masked using BASEPRI.
             * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
            configASSERT( ucMaxSysCallPriority );

            /* Check that the bits not implemented in hardware are zero in
             * configMAX_SYSCALL_INTERRUPT_PRIORITY. */
            configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY & ( uint8_t ) ( ~( uint32_t ) ucMaxPriorityValue ) ) == 0U );

            /* Calculate the maximum acceptable priority group value for the number
             * of bits read back. */
            while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
            {
                ulImplementedPrioBits++;
                ucMaxPriorityValue <<= ( uint8_t ) 0x01;
            }

            if( ulImplementedPrioBits == 8 )
            {
                /* When the hardware implements 8 priority bits, there is no way for
                 * the software to configure PRIGROUP to not have sub-priorities. As
                 * a result, the least significant bit is always used for sub-priority
                 * and there are 128 preemption priorities and 2 sub-priorities.
                 *
                 * This may cause some confusion in some cases - for example, if
                 * configMAX_SYSCALL_INTERRUPT_PRIORITY is set to 5, both 5 and 4
                 * priority interrupts will be masked in Critical Sections as those
                 * are at the same preemption priority. This may appear confusing as
                 * 4 is higher (numerically lower) priority than
                 * configMAX_SYSCALL_INTERRUPT_PRIORITY and therefore, should not
                 * have been masked. Instead, if we set configMAX_SYSCALL_INTERRUPT_PRIORITY
                 * to 4, this confusion does not happen and the behaviour remains the same.
                 *
                 * The following assert ensures that the sub-priority bit in the
                 * configMAX_SYSCALL_INTERRUPT_PRIORITY is clear to avoid the above mentioned
                 * confusion. */
                configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY & 0x1U ) == 0U );
                ulMaxPRIGROUPValue = 0;
            }
            else
            {
                ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS - ulImplementedPrioBits;
            }

            /* Shift the priority group value back to its position within the AIRCR
             * register. */
            ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
            ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
        }
        #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */

        #if ( configENABLE_MPU == 1 )
        {
            /* Setup the Memory Protection Unit (MPU). */
            prvSetupMPU();
        }
        #endif /* configENABLE_MPU */

        if( ucPrimaryCoreNum == get_core_num() )
        {
            /* Start the timer that generates the tick ISR.  Interrupts are disabled
             * here already. */
            vPortSetupTimerInterrupt();

            /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
             * the highest priority. */
            portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
            #if ( configUSE_DYNAMIC_EXCEPTION_HANDLERS == 1 )
                exception_set_exclusive_handler( SYSTICK_EXCEPTION, SysTick_Handler );
            #endif
        }
        /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
         * the highest priority. */
        portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
        portNVIC_SHPR2_REG = 0;

        #if ( configUSE_DYNAMIC_EXCEPTION_HANDLERS == 1 )
        exception_set_exclusive_handler( PENDSV_EXCEPTION, PendSV_Handler );
        exception_set_exclusive_handler( SVCALL_EXCEPTION, SVC_Handler );
        #endif

        /* Initialize the critical nesting count ready for the first task. */
        ulCriticalNestings[portGET_CORE_ID()] = 0;

        /* Install Doorbell handler to receive interrupt from other core */
        uint32_t irq_num = multicore_doorbell_irq_num(cDoorbellNum);
        irq_set_priority( irq_num, portMIN_INTERRUPT_PRIORITY );
        irq_set_exclusive_handler( irq_num, prvDoorbellInterruptHandler );
        irq_set_enabled( irq_num, 1 );

        #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
        {
            xSchedulerRunning = pdTRUE;
        }
        #endif /* ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) */

        /* Start the first task. */
        vStartFirstTask();

        /* Should never get here as the tasks will now be executing. Call the task
         * exit error function to prevent compiler warnings about a static function
         * not being called in the case that the application writer overrides this
         * functionality by defining configTASK_RETURN_ADDRESS. Call
         * vTaskSwitchContext() so link time optimization does not remove the
         * symbol. */
        vTaskSwitchContext( portGET_CORE_ID() );
        prvTaskExitError();

        /* Should not get here. */
        return 0;
    }

    static void prvDisableInterruptsAndPortStartSchedulerOnCore( void )
    {
        portDISABLE_INTERRUPTS();
        xPortStartSchedulerOnCore();
    }

    BaseType_t xPortStartScheduler( void )
    {
        configASSERT( ucPrimaryCoreNum == INVALID_PRIMARY_CORE_NUM );

        /* No one else should use these! */
        spin_lock_claim( configSMP_SPINLOCK_0 );
        spin_lock_claim( configSMP_SPINLOCK_1 );

        // claim same number of both cores for simplicity
        cDoorbellNum = (int8_t)multicore_doorbell_claim_unused(0b11, true);
        multicore_doorbell_clear_current_core(cDoorbellNum);
        multicore_doorbell_clear_other_core(cDoorbellNum);

        ucPrimaryCoreNum = configTICK_CORE;
        configASSERT( get_core_num() == 0 ); /* we must be started on core 0 */
        multicore_reset_core1();
        multicore_launch_core1( prvDisableInterruptsAndPortStartSchedulerOnCore );
        xPortStartSchedulerOnCore();

        /* Should not get here! */
        return 0;
    }

#else /* if ( configNUMBER_OF_CORES != 1 ) */
    BaseType_t xPortStartScheduler( void ) /* PRIVILEGED_FUNCTION */
    {
        /* An application can install FreeRTOS interrupt handlers in one of the
         * following ways:
         * 1. Direct Routing - Install the functions SVC_Handler and PendSV_Handler
         *    for SVCall and PendSV interrupts respectively.
         * 2. Indirect Routing - Install separate handlers for SVCall and PendSV
         *    interrupts and route program control from those handlers to
         *    SVC_Handler and PendSV_Handler functions.
         *
         * Applications that use Indirect Routing must set
         * configCHECK_HANDLER_INSTALLATION to 0 in their FreeRTOSConfig.h. Direct
         * routing, which is validated here when configCHECK_HANDLER_INSTALLATION
         * is 1, should be preferred when possible. */
        #if ( configCHECK_HANDLER_INSTALLATION == 1 && configUSE_DYNAMIC_EXCEPTION_HANDLERS == 0)
        {
            const portISR_t * const pxVectorTable = portSCB_VTOR_REG;

            /* Validate that the application has correctly installed the FreeRTOS
             * handlers for SVCall and PendSV interrupts. We do not check the
             * installation of the SysTick handler because the application may
             * choose to drive the RTOS tick using a timer other than the SysTick
             * timer by overriding the weak function vPortSetupTimerInterrupt().
             *
             * Assertion failures here indicate incorrect installation of the
             * FreeRTOS handlers. For help installing the FreeRTOS handlers, see
             * https://www.FreeRTOS.org/FAQHelp.html.
             *
             * Systems with a configurable address for the interrupt vector table
             * can also encounter assertion failures or even system faults here if
             * VTOR is not set correctly to point to the application's vector table. */
            configASSERT( pxVectorTable[ portVECTOR_INDEX_SVC ] == SVC_Handler );
            configASSERT( pxVectorTable[ portVECTOR_INDEX_PENDSV ] == PendSV_Handler );
        }
        #endif /* configCHECK_HANDLER_INSTALLATION */

        #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )
        {
            volatile uint32_t ulImplementedPrioBits = 0;
            volatile uint8_t ucMaxPriorityValue;

            /* Determine the maximum priority from which ISR safe FreeRTOS API
             * functions can be called. ISR safe functions are those that end in
             * "FromISR". FreeRTOS maintains separate thread and ISR API functions to
             * ensure interrupt entry is as fast and simple as possible.
             *
             * First, determine the number of priority bits available. Write to all
             * possible bits in the priority setting for SVCall. */
            portNVIC_SHPR2_REG = 0xFF000000;

            /* Read the value back to see how many bits stuck. */
            ucMaxPriorityValue = ( uint8_t ) ( ( portNVIC_SHPR2_REG & 0xFF000000 ) >> 24 );

            /* Use the same mask on the maximum system call priority. */
            ucMaxSysCallPriority = configMAX_SYSCALL_INTERRUPT_PRIORITY & ucMaxPriorityValue;

            /* Check that the maximum system call priority is nonzero after
             * accounting for the number of priority bits supported by the
             * hardware. A priority of 0 is invalid because setting the BASEPRI
             * register to 0 unmasks all interrupts, and interrupts with priority 0
             * cannot be masked using BASEPRI.
             * See https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */
            configASSERT( ucMaxSysCallPriority );

            /* Check that the bits not implemented in hardware are zero in
             * configMAX_SYSCALL_INTERRUPT_PRIORITY. */
            configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY & ( uint8_t ) ( ~( uint32_t ) ucMaxPriorityValue ) ) == 0U );

            /* Calculate the maximum acceptable priority group value for the number
             * of bits read back. */
            while( ( ucMaxPriorityValue & portTOP_BIT_OF_BYTE ) == portTOP_BIT_OF_BYTE )
            {
                ulImplementedPrioBits++;
                ucMaxPriorityValue <<= ( uint8_t ) 0x01;
            }

            if( ulImplementedPrioBits == 8 )
            {
                /* When the hardware implements 8 priority bits, there is no way for
                 * the software to configure PRIGROUP to not have sub-priorities. As
                 * a result, the least significant bit is always used for sub-priority
                 * and there are 128 preemption priorities and 2 sub-priorities.
                 *
                 * This may cause some confusion in some cases - for example, if
                 * configMAX_SYSCALL_INTERRUPT_PRIORITY is set to 5, both 5 and 4
                 * priority interrupts will be masked in Critical Sections as those
                 * are at the same preemption priority. This may appear confusing as
                 * 4 is higher (numerically lower) priority than
                 * configMAX_SYSCALL_INTERRUPT_PRIORITY and therefore, should not
                 * have been masked. Instead, if we set configMAX_SYSCALL_INTERRUPT_PRIORITY
                 * to 4, this confusion does not happen and the behaviour remains the same.
                 *
                 * The following assert ensures that the sub-priority bit in the
                 * configMAX_SYSCALL_INTERRUPT_PRIORITY is clear to avoid the above mentioned
                 * confusion. */
                configASSERT( ( configMAX_SYSCALL_INTERRUPT_PRIORITY & 0x1U ) == 0U );
                ulMaxPRIGROUPValue = 0;
            }
            else
            {
                ulMaxPRIGROUPValue = portMAX_PRIGROUP_BITS - ulImplementedPrioBits;
            }

            /* Shift the priority group value back to its position within the AIRCR
             * register. */
            ulMaxPRIGROUPValue <<= portPRIGROUP_SHIFT;
            ulMaxPRIGROUPValue &= portPRIORITY_GROUP_MASK;
        }
        #endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */

        /* Make PendSV and SysTick the lowest priority interrupts, and make SVCall
         * the highest priority. */
        portNVIC_SHPR3_REG |= portNVIC_PENDSV_PRI;
        portNVIC_SHPR3_REG |= portNVIC_SYSTICK_PRI;
        portNVIC_SHPR2_REG = 0;

        #if ( configENABLE_MPU == 1 )
        {
            /* Setup the Memory Protection Unit (MPU). */
            prvSetupMPU();
        }
        #endif /* configENABLE_MPU */

        #if ( configUSE_DYNAMIC_EXCEPTION_HANDLERS == 1 )
        {
            exception_set_exclusive_handler(PENDSV_EXCEPTION, PendSV_Handler);
            exception_set_exclusive_handler(SYSTICK_EXCEPTION, SysTick_Handler);
            exception_set_exclusive_handler(SVCALL_EXCEPTION, SVC_Handler);
        }
        #endif


        /* Start the timer that generates the tick ISR. Interrupts are disabled
         * here already. */
        vPortSetupTimerInterrupt();

        /* Initialize the critical nesting count ready for the first task. */
        ulCriticalNesting = 0;

        #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )
        {
            xSchedulerRunning = pdTRUE;
        }
        #endif /* ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) */

        ucPrimaryCoreNum = get_core_num();
        #if ( LIB_PICO_MULTICORE == 1 )
            #if ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
                // claim same number of both cores for simplicity
                cDoorbellNum = (int8_t) multicore_doorbell_claim_unused(0b11, true);
                multicore_doorbell_clear_current_core(cDoorbellNum);
                multicore_doorbell_clear_other_core(cDoorbellNum);
                uint32_t irq_num = multicore_doorbell_irq_num(cDoorbellNum);
                irq_set_priority( irq_num, portMIN_INTERRUPT_PRIORITY );
                irq_set_exclusive_handler( irq_num, prvDoorbellInterruptHandler );
                irq_set_enabled( irq_num, 1 );
            #endif
        #endif

        /* Start the first task. */
        vStartFirstTask();

        /* Should never get here as the tasks will now be executing. Call the task
         * exit error function to prevent compiler warnings about a static function
         * not being called in the case that the application writer overrides this
         * functionality by defining configTASK_RETURN_ADDRESS. Call
         * vTaskSwitchContext() so link time optimization does not remove the
         * symbol. */
        vTaskSwitchContext();
        prvTaskExitError();

        /* Should not get here. */
        return 0;
    }
#endif /* if ( configNUMBER_OF_CORES > 1 ) */
/*-----------------------------------------------------------*/

void vPortEndScheduler( void ) /* PRIVILEGED_FUNCTION */
{
    /* Not implemented in ports where there is nothing to return to.
     * Artificially force an assert. */
    configASSERT( portGET_CORE_ID() == 1000UL );
}
/*-----------------------------------------------------------*/

#if ( configENABLE_MPU == 1 )

    void vPortStoreTaskMPUSettings( xMPU_SETTINGS * xMPUSettings,
                                    const struct xMEMORY_REGION * const xRegions,
                                    StackType_t * pxBottomOfStack,
                                    configSTACK_DEPTH_TYPE uxStackDepth )
    {
        uint32_t ulRegionStartAddress, ulRegionEndAddress, ulRegionNumber;
        int32_t lIndex = 0;

        #if defined( __ARMCC_VERSION )

            /* Declaration when these variable are defined in code instead of being
             * exported from linker scripts. */
            extern uint32_t * __privileged_sram_start__;
            extern uint32_t * __privileged_sram_end__;
        #else
            /* Declaration when these variable are exported from linker scripts. */
            extern uint32_t __privileged_sram_start__[];
            extern uint32_t __privileged_sram_end__[];
        #endif /* defined( __ARMCC_VERSION ) */

        /* Setup MAIR0. */
        xMPUSettings->ulMAIR0 = ( ( portMPU_NORMAL_MEMORY_BUFFERABLE_CACHEABLE << portMPU_MAIR_ATTR0_POS ) & portMPU_MAIR_ATTR0_MASK );
        xMPUSettings->ulMAIR0 |= ( ( portMPU_DEVICE_MEMORY_nGnRE << portMPU_MAIR_ATTR1_POS ) & portMPU_MAIR_ATTR1_MASK );

        /* This function is called automatically when the task is created - in
         * which case the stack region parameters will be valid.  At all other
         * times the stack parameters will not be valid and it is assumed that
         * the stack region has already been configured. */
        if( uxStackDepth > 0 )
        {
            ulRegionStartAddress = ( uint32_t ) pxBottomOfStack;
            ulRegionEndAddress = ( uint32_t ) pxBottomOfStack + ( uxStackDepth * ( configSTACK_DEPTH_TYPE ) sizeof( StackType_t ) ) - 1;

            /* If the stack is within the privileged SRAM, do not protect it
             * using a separate MPU region. This is needed because privileged
             * SRAM is already protected using an MPU region and ARMv8-M does
             * not allow overlapping MPU regions. */
            if( ( ulRegionStartAddress >= ( uint32_t ) __privileged_sram_start__ ) &&
                ( ulRegionEndAddress <= ( uint32_t ) __privileged_sram_end__ ) )
            {
                xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = 0;
                xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = 0;
            }
            else
            {
                /* Define the region that allows access to the stack. */
                ulRegionStartAddress &= portMPU_RBAR_ADDRESS_MASK;
                ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK;

                xMPUSettings->xRegionsSettings[ 0 ].ulRBAR = ( ulRegionStartAddress ) |
                                                             ( portMPU_REGION_NON_SHAREABLE ) |
                                                             ( portMPU_REGION_READ_WRITE ) |
                                                             ( portMPU_REGION_EXECUTE_NEVER );

                xMPUSettings->xRegionsSettings[ 0 ].ulRLAR = ( ulRegionEndAddress ) |
                                                             ( portMPU_RLAR_ATTR_INDEX0 ) |
                                                             ( portMPU_RLAR_REGION_ENABLE );
            }
        }

        /* User supplied configurable regions. */
        for( ulRegionNumber = 1; ulRegionNumber <= portNUM_CONFIGURABLE_REGIONS; ulRegionNumber++ )
        {
            /* If xRegions is NULL i.e. the task has not specified any MPU
             * region, the else part ensures that all the configurable MPU
             * regions are invalidated. */
            if( ( xRegions != NULL ) && ( xRegions[ lIndex ].ulLengthInBytes > 0UL ) )
            {
                /* Translate the generic region definition contained in xRegions
                 * into the ARMv8 specific MPU settings that are then stored in
                 * xMPUSettings. */
                ulRegionStartAddress = ( ( uint32_t ) xRegions[ lIndex ].pvBaseAddress ) & portMPU_RBAR_ADDRESS_MASK;
                ulRegionEndAddress = ( uint32_t ) xRegions[ lIndex ].pvBaseAddress + xRegions[ lIndex ].ulLengthInBytes - 1;
                ulRegionEndAddress &= portMPU_RLAR_ADDRESS_MASK;

                /* Start address. */
                xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = ( ulRegionStartAddress ) |
                                                                          ( portMPU_REGION_NON_SHAREABLE );

                /* RO/RW. */
                if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_READ_ONLY ) != 0 )
                {
                    xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_ONLY );
                }
                else
                {
                    xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_READ_WRITE );
                }

                /* XN. */
                if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_EXECUTE_NEVER ) != 0 )
                {
                    xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR |= ( portMPU_REGION_EXECUTE_NEVER );
                }

                /* End Address. */
                xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = ( ulRegionEndAddress ) |
                                                                          ( portMPU_RLAR_REGION_ENABLE );

                /* PXN. */
                #if ( portARMV8M_MINOR_VERSION >= 1 )
                {
                    if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_PRIVILEGED_EXECUTE_NEVER ) != 0 )
                    {
                        xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= ( portMPU_RLAR_PRIVILEGED_EXECUTE_NEVER );
                    }
                }
                #endif /* portARMV8M_MINOR_VERSION >= 1 */

                /* Normal memory/ Device memory. */
                if( ( xRegions[ lIndex ].ulParameters & tskMPU_REGION_DEVICE_MEMORY ) != 0 )
                {
                    /* Attr1 in MAIR0 is configured as device memory. */
                    xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX1;
                }
                else
                {
                    /* Attr0 in MAIR0 is configured as normal memory. */
                    xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR |= portMPU_RLAR_ATTR_INDEX0;
                }
            }
            else
            {
                /* Invalidate the region. */
                xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRBAR = 0UL;
                xMPUSettings->xRegionsSettings[ ulRegionNumber ].ulRLAR = 0UL;
            }

            lIndex++;
        }
    }

#endif /* configENABLE_MPU */
/*-----------------------------------------------------------*/

#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )

    BaseType_t xPortIsAuthorizedToAccessBuffer( const void * pvBuffer,
                                                uint32_t ulBufferLength,
                                                uint32_t ulAccessRequested ) /* PRIVILEGED_FUNCTION */

    {
        uint32_t i, ulBufferStartAddress, ulBufferEndAddress;
        BaseType_t xAccessGranted = pdFALSE;
        const xMPU_SETTINGS * xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */

        if( xSchedulerRunning == pdFALSE )
        {
            /* Grant access to all the kernel objects before the scheduler
            * is started. It is necessary because there is no task running
            * yet and therefore, we cannot use the permissions of any
            * task. */
            xAccessGranted = pdTRUE;
        }
        else if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
        {
            xAccessGranted = pdTRUE;
        }
        else
        {
            if( portADD_UINT32_WILL_OVERFLOW( ( ( uint32_t ) pvBuffer ), ( ulBufferLength - 1UL ) ) == pdFALSE )
            {
                ulBufferStartAddress = ( uint32_t ) pvBuffer;
                ulBufferEndAddress = ( ( ( uint32_t ) pvBuffer ) + ulBufferLength - 1UL );

                for( i = 0; i < portTOTAL_NUM_REGIONS; i++ )
                {
                    /* Is the MPU region enabled? */
                    if( ( xTaskMpuSettings->xRegionsSettings[ i ].ulRLAR & portMPU_RLAR_REGION_ENABLE ) == portMPU_RLAR_REGION_ENABLE )
                    {
                        if( portIS_ADDRESS_WITHIN_RANGE( ulBufferStartAddress,
                                                         portEXTRACT_FIRST_ADDRESS_FROM_RBAR( xTaskMpuSettings->xRegionsSettings[ i ].ulRBAR ),
                                                         portEXTRACT_LAST_ADDRESS_FROM_RLAR( xTaskMpuSettings->xRegionsSettings[ i ].ulRLAR ) ) &&
                            portIS_ADDRESS_WITHIN_RANGE( ulBufferEndAddress,
                                                         portEXTRACT_FIRST_ADDRESS_FROM_RBAR( xTaskMpuSettings->xRegionsSettings[ i ].ulRBAR ),
                                                         portEXTRACT_LAST_ADDRESS_FROM_RLAR( xTaskMpuSettings->xRegionsSettings[ i ].ulRLAR ) ) &&
                            portIS_AUTHORIZED( ulAccessRequested,
                                               prvGetRegionAccessPermissions( xTaskMpuSettings->xRegionsSettings[ i ].ulRBAR ) ) )
                        {
                            xAccessGranted = pdTRUE;
                            break;
                        }
                    }
                }
            }
        }

        return xAccessGranted;
    }

#endif /* #if ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) */
/*-----------------------------------------------------------*/

BaseType_t xPortIsInsideInterrupt( void )
{
    uint32_t ulCurrentInterrupt;
    BaseType_t xReturn;

    /* Obtain the number of the currently executing interrupt. Interrupt Program
     * Status Register (IPSR) holds the exception number of the currently-executing
     * exception or zero for Thread mode.*/
    __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" );

    if( ulCurrentInterrupt == 0 )
    {
        xReturn = pdFALSE;
    }
    else
    {
        xReturn = pdTRUE;
    }

    return xReturn;
}
/*-----------------------------------------------------------*/

#if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) )

    void vPortValidateInterruptPriority( void )
    {
        uint32_t ulCurrentInterrupt;
        uint8_t ucCurrentPriority;

        /* Obtain the number of the currently executing interrupt. */
        __asm volatile ( "mrs %0, ipsr" : "=r" ( ulCurrentInterrupt )::"memory" );

        /* Is the interrupt number a user defined interrupt? */
        if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )
        {
            /* Look up the interrupt's priority. */
            ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];

            /* The following assertion will fail if a service routine (ISR) for
             * an interrupt that has been assigned a priority above
             * configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
             * function.  ISR safe FreeRTOS API functions must *only* be called
             * from interrupts that have been assigned a priority at or below
             * configMAX_SYSCALL_INTERRUPT_PRIORITY.
             *
             * Numerically low interrupt priority numbers represent logically high
             * interrupt priorities, therefore the priority of the interrupt must
             * be set to a value equal to or numerically *higher* than
             * configMAX_SYSCALL_INTERRUPT_PRIORITY.
             *
             * Interrupts that  use the FreeRTOS API must not be left at their
             * default priority of  zero as that is the highest possible priority,
             * which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY,
             * and  therefore also guaranteed to be invalid.
             *
             * FreeRTOS maintains separate thread and ISR API functions to ensure
             * interrupt entry is as fast and simple as possible.
             *
             * The following links provide detailed information:
             * https://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html
             * https://www.FreeRTOS.org/FAQHelp.html */
            configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );
        }

        /* Priority grouping:  The interrupt controller (NVIC) allows the bits
         * that define each interrupt's priority to be split between bits that
         * define the interrupt's pre-emption priority bits and bits that define
         * the interrupt's sub-priority.  For simplicity all bits must be defined
         * to be pre-emption priority bits.  The following assertion will fail if
         * this is not the case (if some bits represent a sub-priority).
         *
         * If the application only uses CMSIS libraries for interrupt
         * configuration then the correct setting can be achieved on all Cortex-M
         * devices by calling NVIC_SetPriorityGrouping( 0 ); before starting the
         * scheduler.  Note however that some vendor specific peripheral libraries
         * assume a non-zero priority group setting, in which cases using a value
         * of zero will result in unpredictable behaviour. */
        configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) <= ulMaxPRIGROUPValue );
    }

#endif /* #if ( ( configASSERT_DEFINED == 1 ) && ( portHAS_ARMV8M_MAIN_EXTENSION == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )

    void vPortGrantAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
                                         int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
    {
        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
        xMPU_SETTINGS * xTaskMpuSettings;

        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );

        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );

        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] |= ( 1U << ulAccessControlListEntryBit );
    }

#endif /* #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) )

    void vPortRevokeAccessToKernelObject( TaskHandle_t xInternalTaskHandle,
                                          int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
    {
        uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
        xMPU_SETTINGS * xTaskMpuSettings;

        ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
        ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );

        xTaskMpuSettings = xTaskGetMPUSettings( xInternalTaskHandle );

        xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] &= ~( 1U << ulAccessControlListEntryBit );
    }

#endif /* #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) && ( configENABLE_ACCESS_CONTROL_LIST == 1 ) ) */
/*-----------------------------------------------------------*/

#if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) )

    #if ( configENABLE_ACCESS_CONTROL_LIST == 1 )

        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
        {
            uint32_t ulAccessControlListEntryIndex, ulAccessControlListEntryBit;
            BaseType_t xAccessGranted = pdFALSE;
            const xMPU_SETTINGS * xTaskMpuSettings;

            if( xSchedulerRunning == pdFALSE )
            {
                /* Grant access to all the kernel objects before the scheduler
                 * is started. It is necessary because there is no task running
                 * yet and therefore, we cannot use the permissions of any
                 * task. */
                xAccessGranted = pdTRUE;
            }
            else
            {
                xTaskMpuSettings = xTaskGetMPUSettings( NULL ); /* Calling task's MPU settings. */

                ulAccessControlListEntryIndex = ( ( uint32_t ) lInternalIndexOfKernelObject / portACL_ENTRY_SIZE_BITS );
                ulAccessControlListEntryBit = ( ( uint32_t ) lInternalIndexOfKernelObject % portACL_ENTRY_SIZE_BITS );

                if( ( xTaskMpuSettings->ulTaskFlags & portTASK_IS_PRIVILEGED_FLAG ) == portTASK_IS_PRIVILEGED_FLAG )
                {
                    xAccessGranted = pdTRUE;
                }
                else
                {
                    if( ( xTaskMpuSettings->ulAccessControlList[ ulAccessControlListEntryIndex ] & ( 1U << ulAccessControlListEntryBit ) ) != 0 )
                    {
                        xAccessGranted = pdTRUE;
                    }
                }
            }

            return xAccessGranted;
        }

    #else /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */

        BaseType_t xPortIsAuthorizedToAccessKernelObject( int32_t lInternalIndexOfKernelObject ) /* PRIVILEGED_FUNCTION */
        {
            ( void ) lInternalIndexOfKernelObject;

            /* If Access Control List feature is not used, all the tasks have
             * access to all the kernel objects. */
            return pdTRUE;
        }

    #endif /* #if ( configENABLE_ACCESS_CONTROL_LIST == 1 ) */

#endif /* #if ( ( configENABLE_MPU == 1 ) && ( configUSE_MPU_WRAPPERS_V1 == 0 ) ) */
/*-----------------------------------------------------------*/
#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 ) || ( configSUPPORT_PICO_TIME_INTEROP == 1 )
    static TickType_t prvGetTicksToWaitBefore( absolute_time_t t )
    {
        int64_t xDelay = absolute_time_diff_us( get_absolute_time(), t );
        const uint32_t ulTickPeriod = 1000000 / configTICK_RATE_HZ;

        xDelay += ulTickPeriod - 1;

        if( xDelay >= ulTickPeriod )
        {
            return xDelay / ulTickPeriod;
        }

        return 0;
    }
#endif /* if ( configSUPPORT_PICO_SYNC_INTEROP == 1 ) || ( configSUPPORT_PICO_TIME_INTEROP == 1 ) */

#if ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
    uint32_t ulPortLockGetCurrentOwnerId()
    {
        if( portIS_FREE_RTOS_CORE() )
        {
            uint32_t exception = __get_current_exception();

            if( !exception )
            {
                return ( uintptr_t ) xTaskGetCurrentTaskHandle();
            }

            /* Note: since ROM as at 0x00000000, these can't be confused with
             * valid task handles (pointers) in RAM */
            /* We make all exception handler/core combinations distinct owners */
            return get_core_num() + exception * 2;
        }

        /* Note: since ROM as at 0x00000000, this can't be confused with
         * valid task handles (pointers) in RAM */
        return get_core_num();
    }

    static inline EventBits_t prvGetEventGroupBit( spin_lock_t * spinLock )
    {
        uint32_t ulBit;

        #if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
            ulBit = 1u << ( spin_lock_get_num( spinLock ) & 0x7u );
        #elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
            ulBit = 1u << ( spin_lock_get_num( spinLock ) % 24 );
        #endif /* configTICK_TYPE_WIDTH_IN_BITS */
        return ( EventBits_t ) ulBit;
    }

    static inline EventBits_t prvGetAllEventGroupBits()
    {
        #if ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_16_BITS )
            return ( EventBits_t ) 0xffu;
        #elif ( configTICK_TYPE_WIDTH_IN_BITS == TICK_TYPE_WIDTH_32_BITS )
            return ( EventBits_t ) 0xffffffu;
        #endif /* configTICK_TYPE_WIDTH_IN_BITS */
    }

    void vPortLockInternalSpinUnlockWithWait( struct lock_core * pxLock,
                                              uint32_t ulSave )
    {
        configASSERT( !portCHECK_IF_IN_ISR() );
        configASSERT( pxLock->spin_lock );

        if( !portIS_FREE_RTOS_CORE() )
        {
            spin_unlock( pxLock->spin_lock, ulSave );
            __wfe();
        }
        else
        {
            /* The requirement (from the SDK) on this implementation is that this method
             * should always wake up from a corresponding call to vPortLockInternalSpinUnlockWithNotify
             * that happens after this method is called.
             *
             * The moment that we unlock the spin lock, we need to be sure that
             * there is no way that we end up blocking in xEventGroupWaitBits,
             * despite the fact that other tasks can now run, if the corresponding
             * unlock has occurred.
             *
             * Previously the RP2xxx ports used to attempt to disable IRQs until the
             * task actually (potentially) became blocked by hooking the IRQ re-enable
             * when xEventGroupWaitBits completes (or switches tasks), but this
             * was a broken hack, in that IRQs are re-enabled at other points during
             * that call.
             *
             * This deferred IRQ enable is not actually needed, because all we
             * care about is that:
             *
             * Even in the presence of other tasks acquiring then releasing
             * the lock, between the interrupt_enable and the xEventGroupWaitBits,
             * the corresponding bit will still be set.
             *
             * This is the case, even any intervening blocked lock (which
             * clears the event bit) will need to unlock it before we proceed,
             * which will set the event bit again.
             *
             * The multiplexing down of multiple spin lock numbers to fewer
             * event bits does not cause a possible race condition,
             * but it does mean that a task waiting for lock A can be
             * blocked by a task B which owns another lock.
             *
             * This could be fixed by using an array of event groups, however
             * since the SDK spin locks are generally intended for very short
             * term usage anyway, and rarely nested except in exotic cases
             * like video output, we'll leave it as one event group for now
             */
            spin_unlock( pxLock->spin_lock, ulSave);
            xEventGroupWaitBits( xEventGroup, prvGetEventGroupBit( pxLock->spin_lock ),
                                 pdTRUE, pdFALSE, portMAX_DELAY );
        }
    }

    void vPortLockInternalSpinUnlockWithNotify( struct lock_core * pxLock,
                                                uint32_t ulSave )
    {
        EventBits_t uxBits = prvGetEventGroupBit( pxLock->spin_lock );

        if( portIS_FREE_RTOS_CORE() )
        {
            #if LIB_PICO_MULTICORE
                /* signal an event in case a regular core is waiting */
                __sev();
            #endif
            spin_unlock( pxLock->spin_lock, ulSave );

            if( !portCHECK_IF_IN_ISR() )
            {
                xEventGroupSetBits( xEventGroup, uxBits );
            }
            else
            {
                BaseType_t xHigherPriorityTaskWoken = pdFALSE;
                xEventGroupSetBitsFromISR( xEventGroup, uxBits, &xHigherPriorityTaskWoken );
                portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
            }
        }
        else
        {
            __sev();
            #if ( configNUMBER_OF_CORES == 1 )
                if( pxCrossCoreSpinLock != pxLock->spin_lock )
                {
                    spin_lock_unsafe_blocking( pxCrossCoreSpinLock );
                    uxCrossCoreEventBits |= uxBits;
                    spin_unlock_unsafe( pxCrossCoreSpinLock );
                }
                else
                {
                    uxCrossCoreEventBits |= uxBits;
                }

                /* This causes doorbell irq on the other (FreeRTOS) core which will do the set the event bits */
                if ( cDoorbellNum >= 0 )
                {
                    multicore_doorbell_set_other_core(cDoorbellNum);
                }
            #endif /* configNUMBER_OF_CORES == 1 */
            spin_unlock( pxLock->spin_lock, ulSave );
        }
    }

    bool xPortLockInternalSpinUnlockWithBestEffortWaitOrTimeout( struct lock_core * pxLock,
                                                                 uint32_t ulSave,
                                                                 absolute_time_t uxUntil )
    {
        configASSERT( !portCHECK_IF_IN_ISR() );
        configASSERT( pxLock->spin_lock );

        /* note no need to check LIB_PICO_MULTICORE, as this is always returns true if that is not defined */
        if( !portIS_FREE_RTOS_CORE() )
        {
            spin_unlock( pxLock->spin_lock, ulSave );
            return best_effort_wfe_or_timeout( uxUntil );
        }
        else
        {
            configASSERT( portIS_FREE_RTOS_CORE() );

            TickType_t uxTicksToWait = prvGetTicksToWaitBefore( uxUntil );

            if( uxTicksToWait )
            {
                /* See comment in vPortLockInternalSpinUnlockWithWait for detail
                 * about possible race conditions */
                spin_unlock( pxLock->spin_lock, ulSave );
                xEventGroupWaitBits( xEventGroup,
                                     prvGetEventGroupBit( pxLock->spin_lock ), pdTRUE,
                                     pdFALSE, uxTicksToWait );
            }
            else
            {
                spin_unlock( pxLock->spin_lock, ulSave );
            }

            if( time_reached( uxUntil ) )
            {
                return true;
            }
            else
            {
                /* We do not want to hog the core */
                portYIELD();
                /* We aren't sure if we've reached the timeout yet; the caller will check */
                return false;
            }
        }
    }

    #if ( configSUPPORT_PICO_SYNC_INTEROP == 1 )
        /* runs before main */
        static void __attribute__( ( constructor ) ) prvRuntimeInitializer( void )
        {
            /* This must be done even before the scheduler is started, as the spin lock
             * is used by the overrides of the SDK wait/notify primitives */
            #if ( configNUMBER_OF_CORES == 1 )
                pxCrossCoreSpinLock = spin_lock_instance( next_striped_spin_lock_num() );
            #endif /* configNUMBER_OF_CORES == 1 */

            /* The event group is not used prior to scheduler init, but is initialized
             * here to since it logically belongs with the spin lock */
            #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
                xEventGroup = xEventGroupCreateStatic( &xStaticEventGroup );
            #else

                /* Note that it is slightly dubious calling this here before the scheduler is initialized,
                 * however the only thing it touches is the allocator which then calls vPortEnterCritical
                 * and vPortExitCritical, and allocating here saves us checking the one time initialized variable in
                 * some rather critical code paths */
                xEventGroup = xEventGroupCreate();
            #endif /* configSUPPORT_STATIC_ALLOCATION */
        }
    #endif /* if ( configSUPPORT_PICO_SYNC_INTEROP == 1 ) */
#endif /* configSUPPORT_PICO_SYNC_INTEROP */

#if ( configSUPPORT_PICO_TIME_INTEROP == 1 )
    void xPortSyncInternalYieldUntilBefore( absolute_time_t t )
    {
        TickType_t uxTicksToWait = prvGetTicksToWaitBefore( t );

        if( uxTicksToWait )
        {
            vTaskDelay( uxTicksToWait );
        }
    }
#endif /* configSUPPORT_PICO_TIME_INTEROP */

/*-----------------------------------------------------------*/

#if ( configNUMBER_OF_CORES != 1 )
    void vYieldCore( int xCoreID )
    {
        /* Remove warning if configASSERT is not defined.
         * xCoreID is not used in this function due to this is a dual-core system. The yielding core must be different from the current core. */
        ( void ) xCoreID;

        configASSERT( xCoreID != ( int ) portGET_CORE_ID() );

    #if ( configNUMBER_OF_CORES != 1 )

        /* will cause interrupt on other core if not already pending */
        configASSERT( cDoorbellNum >= 0);
        multicore_doorbell_set_other_core(cDoorbellNum);
    #endif
    }
#endif // ( configNUMBER_OF_CORES != 1 )

/*-----------------------------------------------------------*/
