/*
 * TOPPERS/EV3RT
 * 
 * Copyright (C) 2016 by Yixiao Li <liyixiao7@gmail.com>
 * 
 *  The above copyright holders grant permission gratis to use,
 *  duplicate, modify, or redistribute (hereafter called use) this
 *  software (including the one made by modifying this software),
 *  provided that the following four conditions (1) through (4) are
 *  satisfied.
 * 
 *  (1) When this software is used in the form of source code, the above
 *      copyright notice, this use conditions, and the disclaimer shown
 *      below must be retained in the source code without modification.
 * 
 *  (2) When this software is redistributed in the forms usable for the
 *      development of other software, such as in library form, the above
 *      copyright notice, this use conditions, and the disclaimer shown
 *      below must be shown without modification in the document provided
 *      with the redistributed software, such as the user manual.
 * 
 *  (3) When this software is redistributed in the forms unusable for the
 *      development of other software, such as the case when the software
 *      is embedded in a piece of equipment, either of the following two
 *      conditions must be satisfied:
 * 
 *    (a) The above copyright notice, this use conditions, and the
 *        disclaimer shown below must be shown without modification in
 *        the document provided with the redistributed software, such as
 *        the user manual.
 * 
 *    (b) How the software is to be redistributed must be reported to the
 *        TOPPERS Project according to the procedure described
 *        separately.
 * 
 *  (4) The above copyright holders and the TOPPERS Project are exempt
 *      from responsibility for any type of damage directly or indirectly
 *      caused from the use of this software and are indemnified by any
 *      users or end users of this software from any and all causes of
 *      action whatsoever.
 * 
 *  THIS SOFTWARE IS PROVIDED "AS IS." THE ABOVE COPYRIGHT HOLDERS AND
 *  THE TOPPERS PROJECT DISCLAIM ANY EXPRESS OR IMPLIED WARRANTIES,
 *  INCLUDING, BUT NOT LIMITED TO, ITS APPLICABILITY TO A PARTICULAR
 *  PURPOSE. IN NO EVENT SHALL THE ABOVE COPYRIGHT HOLDERS AND THE
 *  TOPPERS PROJECT BE LIABLE FOR ANY TYPE OF DAMAGE DIRECTLY OR
 *  INDIRECTLY CAUSED FROM THE USE OF THIS SOFTWARE.
 */

/*
 * Header file of sample program
 */

#ifdef __cplusplus
extern "C" {
#endif

/**
 * Common header files
 */
#include "ev3api.h"
#include "target_test.h"

/**
 * Task priorities (smaller number has higher priority)
 */
#define PRIORITY_MAIN_TASK 	(TMIN_APP_TPRI + 1) 
/* Main task priority */
/* Must by higher then HIGH_PRIORITY */

#define HIGH_PRIORITY		(TMIN_APP_TPRI + 2)		
#define MID_PRIORITY		(TMIN_APP_TPRI + 3)	
#define LOW_PRIORITY		(TMIN_APP_TPRI + 4)	

#define PRIORITY_PRD_TSK_1 TMIN_APP_TPRI
#define PRIORITY_PRD_TSK_2 TMIN_APP_TPRI

#define GYRO_PORT EV3_PORT_1  
#define BUTTON_UP EV3_PORT_4  
#define BUTTON_BUMPER EV3_PORT_3
#define LEFT_MOTOR EV3_PORT_B  
#define RIGHT_MOTOR EV3_PORT_C
#define HINGE_MOTOR EV3_PORT_A 

/**
 * Task periods in ms
 */
//#define PERIOD_PRD_TSK_1  (100)
//#define PERIOD_PRD_TSK_2  (500)

/**
 * Default task stack size in bytes
 */
#ifndef STACK_SIZE
#define	STACK_SIZE 4096
#endif

/**
 * Prototypes for configuration
 */
#ifndef TOPPERS_MACRO_ONLY

extern void	main_task(intptr_t);
extern void sub_task(intptr_t);
extern void music_task(intptr_t);
extern void csv_task(intptr_t);
// extern void periodic_task_1(intptr_t);
// extern void periodic_task_2(intptr_t);

// extern void task_activator(intptr_t tskid);

#endif /* TOPPERS_MACRO_ONLY */

#ifdef __cplusplus
}
#endif