/**
 * @file bluetooth2.oil
 *
 * @section desc File description
 *
 * This example is for a robot-car, made of 4 wheels (the 2 rear wheels are commanded by 2 motors).
 * Another motor (motorC) set the direction.
 * To turn left, set a motorC speed positive. To turn right, set a motorC speed negative.
 *
 * @section copyright Copyright
 *
 * Trampoline is copyright (c) IRCCyN 2005-2007
 * Trampoline is protected by the French intellectual property law.
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; version 2
 * of the License.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
 *
 * @section infos File informations
 *
 * $Date$
 * $Rev$
 * $Author$
 * $URL$
 */

OIL_VERSION = "2.5" : "test" ;

IMPLEMENTATION trampoline {
    TASK {
        UINT32 STACKSIZE = 500 ;
        UINT32 PRIORITY = 1 ;
    } ;
    ISR {
        UINT32 STACKSIZE = 500 ;
    } ;
};

CPU test {

    OS config {
        STATUS = EXTENDED;
        ERRORHOOK = FALSE;
        PRETASKHOOK = FALSE;
        BUILD = TRUE {
            TRAMPOLINE_BASE_PATH = "/trampoline";
            APP_SRC = "bluetooth2.c"; 
            APP_NAME = "tpl_bluetooth2";
            CFLAGS = "-g -c -ffreestanding -fsigned-char -mcpu=arm7tdmi -Os -Winline -Wall -Werror-implicit-function-declaration --param max-inline-insns-single=1000 -ffunction-sections -fdata-sections -std=gnu99 -I/trampoline/machines/arm/nxt/drivers/lejos_nxj/src/nxtvm/platform/nxt -I/trampoline/machines/arm/nxt/drivers/ecrobot/c -I/trampoline/machines/arm/nxt/drivers -I/trampoline/machines/arm/nxt/drivers/ecrobot/bios -I/trampoline/machines/arm/nxt/drivers/lejos_nxj/src/nxtvm/javavm -I/trampoline/os -DTRUE=1 -DFALSE=0 -Du8=uint8 -Du32=uint32 -Du16=uint16 -Ds8=sint8 -Ds32=sint32"; //-MD ";
            ASFLAGS = "-g -mcpu=arm7tdmi-s --fatal-warnings ";
            LDFLAGS = "-g --allow-multiple-definition --gc-sections -L/usr/arm-none-eabi/lib -L/usr/lib/gcc/arm-none-eabi/7.3.1 -lc -lm -lgcc"; //--cref 
        
            COMPILER = "arm-none-eabi-gcc";
            ASSEMBLER = "arm-none-eabi-as";
            LINKER = "arm-none-eabi-ld";
        };
        SYSTEM_CALL = TRUE;
        MEMMAP = TRUE{
          COMPILER = gcc;
          LINKER = gnu_ld { SCRIPT = "script.ld"; };
          ASSEMBLER = gnu_as;
          MEMORY_PROTECTION = FALSE;
        };
    } ;

    APPMODE std {
    };

    TASK task_idle {
        PRIORITY = 1;
        AUTOSTART = TRUE { APPMODE = std; };
        ACTIVATION = 1;
        SCHEDULE = FULL;
    };   
    
    TASK task_check_bt {
        PRIORITY = 2;
        AUTOSTART = FALSE;
        ACTIVATION = 1;
        SCHEDULE = FULL;
    };
     
    TASK task_command_motors {
        PRIORITY = 3;
        AUTOSTART = FALSE;
        ACTIVATION = 1;
        SCHEDULE = FULL;
    };   
   
    COUNTER SystemCounter {
       SOURCE = it_timer1;
       MAXALLOWEDVALUE = 2000;
		TICKSPERBASE = 10;
		MINCYCLE = 1; 
    };
	
	ALARM Alarm1{
		COUNTER = SystemCounter;
		ACTION = ACTIVATETASK {
			TASK = task_check_bt;
		};
        AUTOSTART = TRUE {
            ALARMTIME = 200;
            CYCLETIME = 10; //each 100 ms.
            APPMODE = std;
		};
	};
	
	ALARM Alarm2{
		COUNTER = SystemCounter;
		ACTION = ACTIVATETASK {
			TASK = task_command_motors;
		};
        AUTOSTART = TRUE {
            ALARMTIME = 200;
            CYCLETIME = 10; //each 100 ms.
            APPMODE = std;
		};
	};

   ISR isr_button_stop {
       CATEGORY = 2;
		PRIORITY = 1;
		SOURCE = button_stop;
   };
};

/* End of file bluetooth2.oil */