#include "implementation.oil"

CPU ATMEL_AT91SAM7S256
{
  OS LEJOS_OSEK
  {
    STATUS = EXTENDED;
    STARTUPHOOK = FALSE;
    ERRORHOOK = FALSE;
    SHUTDOWNHOOK = FALSE;
    PRETASKHOOK = FALSE;
    POSTTASKHOOK = FALSE;
    USEGETSERVICEID = FALSE;
    USEPARAMETERACCESS = FALSE;
    USERESSCHEDULER = FALSE;
  };

  /* Definition of application mode */
  APPMODE appmode1{}; 

  EVENT SleepEventMask
  {
    MASK = AUTO;
  };

  RESOURCE ResourceCommand
  {
  	RESOURCEPROPERTY = STANDARD;
  };

  /* Definition of Task_Init */
  TASK Task_Init
  {
    AUTOSTART = TRUE
	{
		APPMODE = appmode1;
   	};
    PRIORITY = 4;
    EVENT = SleepEventMask;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512; /* Stack size */ 
  };

  /* Definition of Task_Commander */
  TASK Task_Commander
  {
    AUTOSTART = FALSE;
    RESOURCE = ResourceCommand; 
    PRIORITY = 3;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512; /* Stack size */
  };

  /* Definition of Task_Display */
  TASK Task_Display
  {
    AUTOSTART = FALSE;
    PRIORITY = 2;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512; /* Stack size */ 
  };

  /* Definition of Task_MotionControl */
  TASK Task_MotionControl
  {
    AUTOSTART = TRUE
    {
      APPMODE = appmode1;
    };
    EVENT = SleepEventMask;
    RESOURCE = ResourceCommand; 
    PRIORITY = 1;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
  };

  /* Definition of Task_Commander execution timing */
  ALARM cyclic_alarm_Task_Commander
  {
    COUNTER = SysTimerCnt;
    ACTION = ACTIVATETASK
    {
        TASK = Task_Commander;
    };
    AUTOSTART = TRUE
    {
        ALARMTIME = 1;
        CYCLETIME = 5; /* executed every 5msec */
        APPMODE = appmode1;
    };
  };
  
  /* Definition of Task_Display execution timing */
  ALARM cyclic_alarm_Task_Display
  {
    COUNTER = SysTimerCnt;
    ACTION = ACTIVATETASK
    {
        TASK = Task_Display;
    };
    AUTOSTART = TRUE
    {
        ALARMTIME = 1;
        CYCLETIME = 500; /* executed every 500msec */
        APPMODE = appmode1;
    };
  };

  /* Definition of OSEK Alarm Counter */
  COUNTER SysTimerCnt
  {
    MINCYCLE = 1;
    MAXALLOWEDVALUE = 10000;
    TICKSPERBASE = 1; /* One tick is equal to 1msec */ 
  };
};