#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

/*-----------------------------------------------------------
 * Application specific definitions.
 *
 * These definitions should be adjusted for your particular hardware and
 * application requirements.
 *
 * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
 * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
 *
 * See http://www.freertos.org/a00110.html.
 *----------------------------------------------------------*/

// Scheduler Configuration
#define configUSE_PREEMPTION                    1    // 1: Preemptive scheduler, 0: Cooperative scheduler
#define configUSE_PORT_OPTIMISED_TASK_SELECTION 0    // Use optimized task selection if available
#define configUSE_IDLE_HOOK                     0    // 1: Use Idle hook function
#define configUSE_TICK_HOOK                     0    // 1: Use Tick hook function
#define configIDLE_SHOULD_YIELD                 1    // 1: Idle task yields to same priority tasks

// System Clock Configuration
#define configCPU_CLOCK_HZ                      ((unsigned long)150000000) // CPU frequency: 150 MHz for RP2350
#define configTICK_RATE_HZ                      ((TickType_t)1000)         // RTOS tick frequency (1000 Hz = 1ms tick)

// Task Configuration
#define configMAX_PRIORITIES                    5    // Maximum number of priority levels
#define configMINIMAL_STACK_SIZE                ((unsigned short)256)      // Minimum stack size in words
#define configMAX_TASK_NAME_LEN                 (16) // Maximum length of task names

// Memory Configuration
#define configTOTAL_HEAP_SIZE                   ((size_t)(16 * 1024)) // Total RTOS heap size (16 KB)
#define configSUPPORT_DYNAMIC_ALLOCATION        1     // 1: Enable dynamic memory allocation

// Synchronization Primitives
#define configUSE_MUTEXES                       1    // 1: Enable mutexes
#define configUSE_RECURSIVE_MUTEXES             1    // 1: Enable recursive mutexes
#define configUSE_COUNTING_SEMAPHORES           1    // 1: Enable counting semaphores
#define configQUEUE_REGISTRY_SIZE               8    // Number of queues/semaphores that can be registered

// Debugging and Diagnostics
#define configUSE_TRACE_FACILITIES              0    // 1: Enable trace/debug facilities
#define configCHECK_FOR_STACK_OVERFLOW          2    // Stack overflow checking method (0=off, 1=method1, 2=method2)
#define configUSE_MALLOC_FAILED_HOOK            0    // 1: Use memory allocation failure hook
#define configUSE_APPLICATION_TASK_TAG          0    // 1: Enable task tagging
#define configGENERATE_RUN_TIME_STATS           0    // 1: Generate run-time statistics

// Timer Configuration
#define configUSE_TIMERS                        1    // 1: Enable software timers
#define configTIMER_TASK_PRIORITY               (2)  // Timer service task priority
#define configTIMER_QUEUE_LENGTH                10   // Timer command queue length
#define configTIMER_TASK_STACK_DEPTH            (configMINIMAL_STACK_SIZE * 2) // Timer task stack size

// Co-routine Configuration
#define configUSE_CO_ROUTINES                   0    // 1: Enable co-routines
#define configMAX_CO_ROUTINE_PRIORITIES         (2)  // Maximum co-routine priorities

// Hardware Specific Configuration
#define configENABLE_FPU                        1    // 1: Enable Floating Point Unit
#define configENABLE_TRUSTZONE                  0    // 1: Enable TrustZone
#define configENABLE_MPU                        0    // 1: Enable Memory Protection Unit (defined twice in original)
#define configRUN_FREERTOS_SECURE_ONLY          1    // 1: Run in secure mode only
#define configUSE_16_BIT_TICKS                  0    // 0: Use 32-bit ticks, 1: Use 16-bit ticks

// API Inclusion Configuration
#define INCLUDE_vTaskPrioritySet                1    // Include task priority set API
#define INCLUDE_uxTaskPriorityGet               1    // Include task priority get API
#define INCLUDE_vTaskDelete                     1    // Include task delete API
#define INCLUDE_vTaskCleanUpResources           0    // Include task cleanup API
#define INCLUDE_vTaskSuspend                    1    // Include task suspend API
#define INCLUDE_vTaskDelayUntil                 1    // Include delay until API
#define INCLUDE_vTaskDelay                      1    // Include delay API
#define INCLUDE_xTaskGetSchedulerState          1    // Include scheduler state API
#define INCLUDE_xTaskGetCurrentTaskHandle       1    // Include current task handle API
#define INCLUDE_uxTaskGetStackHighWaterMark     0    // Include stack high water mark API
#define INCLUDE_xTaskGetIdleTaskHandle          0    // Include idle task handle API
#define INCLUDE_eTaskGetState                   0    // Include task state API
#define INCLUDE_xSemaphoreGetMutexHolder        0    // Include mutex holder API
#define INCLUDE_xTimerPendFunctionCall          1    // Include timer pend function call API (defined twice in original)
#define INCLUDE_xQueueGetMutexHolder            0    // Include queue mutex holder API
#define INCLUDE_xEventGroupSetBitFromISR        1    // Include event group set bit from ISR API

// Cortex-M Interrupt Configuration
#ifdef __NVIC_PRIO_BITS
    #define configPRIO_BITS             __NVIC_PRIO_BITS    // Use CMSIS defined priority bits
#else
    #define configPRIO_BITS             3                   // 7 priority levels (default)
#endif

#define configLIBRARY_LOWEST_INTERRUPT_PRIORITY         0x7    // Lowest interrupt priority
#define configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY    5      // Highest priority for FreeRTOS API calls

#define configKERNEL_INTERRUPT_PRIORITY         (configLIBRARY_LOWEST_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))
#define configMAX_SYSCALL_INTERRUPT_PRIORITY    (configLIBRARY_MAX_SYSCALL_INTERRUPT_PRIORITY << (8 - configPRIO_BITS))

// Assertion Definition
#define configASSERT(x) if((x) == 0) { taskDISABLE_INTERRUPTS(); for(;;); } // Basic assert implementation

#endif /* FREERTOS_CONFIG_H */