5｡･･ﾞ･�･ﾁ･ｿ･ｹ･ｯ TOP､ﾘ
6｡･･ｿ･ｹ･ｯｴﾖ､ﾎﾇﾓﾂｾﾀｩｸ�


ﾁｰｾﾏ､ﾇ､ﾏ｡｢･ﾞ･�･ﾁ･ｿ･ｹ･ｯ､ﾋ､ﾄ､､､ﾆｳﾘｽｬ､ｷ､ﾞ､ｷ､ｿ｡｣
､ｷ､ｫ､ｷ｡｢･ﾞ･�･ﾁ･ｿ･ｹ･ｯ､ﾎ･ﾗ･愠ｰ･鬣爨釥�ｺﾝ､ﾋ､ﾏ｡｢ｺ｣､ﾞ､ﾇﾌｵ､ｫ､ﾃ､ｿﾌ萃熙ｬﾈｯﾀｸ､ｷ､ﾞ､ｹ｡｣
ｺﾇ､篦衙ｽﾅｪ､ﾊﾎ网ｬ･ｿ･ｹ･ｯ､ｬﾂｾ､ﾎ･ｿ･ｹ･ｯ､ﾎｼﾂｹﾔ､ｸｳｲ､ｹ､�､ｳ､ﾈ､ﾇ､ｹ｡｣
､ｽ､�､ｬ､ﾉ､ﾊ､ﾈ､ｭﾈｯﾀｸ､ｹ､�､ｫ｡｢､ﾉ､ｦｲ隍ｹ､�､ｫ､ﾘ､ﾓ､ﾞ､ｹ｡｣



1｡･ﾆｰｺ釥ﾎﾋｸｳｲ

･ﾞ･�･ﾁ･ｿ･ｹ･ｯﾆﾃﾍｭ､ﾎﾌ萃熙ﾎｸｳ､ｷ､ﾆ､ﾟ､ﾞ､ｷ､遉ｦ｡｣
ｼ｡､ﾎ･ﾗ･愠ｰ･鬣爨鋿ｮ､ｷ､ﾆ､ｯ､ﾀ､ｵ､､｡｣､ｳ､ｳ､ﾇ､ﾏresource1.c､ﾈ､ｷ､ﾞ､ｷ､ｿ｡｣
resource1.c
#include "kernel.h"
#include "kernel_id.h"
#include "ecrobot_interface.h"
#include "myrobot_interface.h"

DeclareCounter(SysTimerCnt);
DeclareTask(Task1);				/* Task1､�ｸﾀ */
DeclareTask(Task_bg);				/* Task_bg､�ｸﾀ */

int i=0;

void ecrobot_device_initialize(){		/* OSEKｵｯﾆｰｻ､ﾎｽ靉｡ﾊ･筍ｼ･ｿﾄ莉ﾟ｡ﾋ*/
nxt_motor_set_speed(NXT_PORT_B,0,0);
nxt_motor_set_speed(R_MOTOR,0,0);
}

void ecrobot_device_terminate(){		/* OSEKｽｪﾎｻｻ､ﾎｽ靉｡ﾊ･筍ｼ･ｿﾄ莉ﾟ｡ﾋ*/
nxt_motor_set_speed(L_MOTOR,0,0);
nxt_motor_set_speed(R_MOTOR,0,0);
}

void user_1ms_isr_type2(void){
    SignalCounter(SysTimerCnt);		/* ･ｫ･ｦ･ｿｴﾊｰﾗﾈﾇ */
}
#define SPEED 60
#define TURN_CNT 40
#define MOVE_CNT 120

#define TURN_TIME 500
#define MOVE_TIME 1000

TASK(Task1)
{
	if(i <= MOVE_CNT){
		nxt_motor_set_speed(L_MOTOR,SPEED,1);
		nxt_motor_set_speed(R_MOTOR,SPEED,1);
	}else if(i > MOVE_CNT && i <= TURN_CNT+MOVE_CNT){
		nxt_motor_set_speed(L_MOTOR,SPEED,1);
		nxt_motor_set_speed(R_MOTOR,-1*SPEED,1);	
	}else{
		i=0;
	}
	
	display_clear(0);
	display_goto_xy(0,1);
   	display_string("I=");		/* ﾊﾑｿﾎﾆ簣ﾆ､ｽｼｨ */
	display_int(i, 5);
	display_update();
	
	i++;
	
	TerminateTask();					/* ｽ靉ｽｪﾎｻ */
}

TASK(Task_bg){
	while(1){
		if(ecrobot_get_touch_sensor(PORT_TOUCH) == 1){
			nxt_motor_set_speed(L_MOTOR,-1*SPEED,1);
			nxt_motor_set_speed(R_MOTOR,-1*SPEED,1);
			systick_wait_ms(MOVE_TIME);
			nxt_motor_set_speed(L_MOTOR,SPEED,1);
			nxt_motor_set_speed(R_MOTOR,-1*SPEED,1);
			systick_wait_ms(TURN_TIME);
			nxt_motor_set_speed(L_MOTOR,0,1);
			nxt_motor_set_speed(R_MOTOR,0,1);
		}
	}
	
	TerminateTask();
}

resource1.oil
#include "implementation.oil"

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

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

   TASK Task1						/* Task1 ､�ｵﾁ､ｹ､� */
  {
    AUTOSTART = FALSE;
    PRIORITY = 2;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
  };

  TASK Task_bg						/* Task_bg ､�ｵﾁ */
  {
    AUTOSTART = TRUE { APPMODE = appmode1; };
    PRIORITY = 1;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
  };

  COUNTER SysTimerCnt			/* SysTimerCnt､�ｵﾁ */
  {
    MINCYCLE = 1;
    MAXALLOWEDVALUE = 10000;
    TICKSPERBASE = 1; /* One tick is equal to 1msec */ 
  };

  ALARM cyclic_alarm1		/* ｼｴ�･｢･鬘ｼ･�1､�ｵﾁ */
  {
    COUNTER = SysTimerCnt;
    ACTION = ACTIVATETASK
    {
      TASK = Task1;
    };
    AUTOSTART = TRUE
    {
      ALARMTIME = 1;
      CYCLETIME = 10; /* Task1､ﾏ10msec､ｴ､ﾈ､ﾋｵｯﾆｰ */
      APPMODE = appmode1;
    };
  };

};


､ｳ､ﾎ･ﾗ･愠ｰ･鬣爨ﾇ､ﾏ｣ｲ､ﾄ､ﾎ･ｿ･ｹ･ｯ､ﾏｰﾊｲｼ､ﾎ､隍ｦ､ﾊﾆｰｺ釥ｹ､�､隍ｦ､ﾋ､ｵ､�､ﾆ､､､ﾞ､ｹ｡｣
･ﾗ･愠ｰ･鬣爨ｬﾀｵ､ｷ､ｯﾆｰｺ釥ｹ､�､ｫｳﾎﾇｧ､ｷ､ﾆ､ｯ､ﾀ､ｵ､､｡ｦ｡ｦ｡ｦ｡ｦﾀｵ､ｷ､ｯﾆｰｺ釥ｷ､ﾞ､ｻ､｣
､ｳ､ﾎ･ﾗ･愠ｰ･鬣爨ﾇ､ﾏ｡｢Task1､ﾎ､ﾛ､ｦ､ｬTask_bg､隍�ﾍ･ﾀ霰ﾙ､ｬｹ筅ｯﾀﾟﾄ熙ｵ､�､ﾆ､､､ﾞ､ｹ｡｣
､ｹ､�､ﾈ｡｢･ﾗ･愠ｰ･鬣爨ﾎﾎｮ､�､ﾏｰﾊｲｼ､ﾎ､隍ｦ､ﾋ､ﾊ､熙ﾞ､ｹ｡｣

resource1.png(9799 byte)

Task_bg､ﾎﾎｮ､�､ｫ､�､ﾈ｡｢ｼﾂｹﾔ､ｬﾅﾓﾀﾚ､�ﾅﾓﾀﾚ､�､ﾋ､ﾊ､ﾃ､ﾆ､､､ﾆ｡｢､ｽ､ﾎｴﾖ､ﾋTask1､ｬｼﾂｹﾔ､ｵ､�､ﾆ､､､�､ｳ､ﾈ､ｬ､�､ｫ､熙ﾞ､ｹ｡｣ Task_bg､ﾎﾆｰｺ釥ﾏ｡｢･筍ｼ･ｿ､ﾋｻﾘﾎ皃ﾐ､ｷ､ﾆｻﾘﾄ熙ｵ､�､ｿｻｴﾖﾂﾔ､ﾄ｡｢､ﾈ､､､ｦﾆｰｺ釥ﾇ､ｹ｡｣
､ｷ､ｫ､ｷ｡｢ﾀﾞｳﾑTask_bg､ｬ･筍ｼ･ｿ､ﾋｻﾘﾎ皃ﾐ､ｷ､ﾆ､筍｢､ｽ､ﾎｸ薺ask1､ｫ､鬢ﾎ･筍ｼ･ｿ､ﾘ､ﾎｻﾘﾎ皃ﾋ､隍ﾃ､ﾆｾﾃ､ｵ､�､ﾆ､ｷ､ﾞ､､､ﾞ､ｹ｡｣
､ｳ､�､ｬｹ篦ｮ､ﾇｷｫ､�ﾊﾖ､ｵ､�､�､ﾎ､ﾇ｡｢Task_bg､ﾏﾆｰｺ釥ｷ､ﾆ､､､ﾊ､､､隍ｦ､ﾋｴｶ､ｸ､�､ﾎ､ﾇ､ｹ｡｣

､ﾊ､鬢ﾐ｡｢Task_bg､ﾎﾍ･ﾀ霰ﾙ､ask1､隍�ｹ筅ｯ､ｹ､�､ﾐﾎﾉ､､､ﾎ､ﾇ､ｷ､遉ｦ､ｫ｡｣､ｽ､ﾎ､ﾈ､ｭ､ﾎ･ﾗ･愠ｰ･鬣爨ﾎﾎｮ､�､ﾏ､ｳ､ｦ､ﾊ､熙ﾞ､ｹ｡｣

resource2.png(9799 byte)

Task1､ｬｼﾂｹﾔ､ｵ､�､ﾆ､､､ﾞ､ｻ､｣､ｳ､�､ﾇ､ﾏ｡｢ﾌﾜﾅｪ､ﾎﾆｰｺ釥ｷ､ﾊ､､､ﾎ､ﾏﾌﾀｳﾎ､ﾇ､ｹ｡｣
､荀ﾏ､遙｢ﾂｾ､ﾋｲｿ､ｫｹｩﾉﾗ､ｬﾉｬﾍﾗ､ﾇ､ｹ｡｣



2｡･･ｿ･ｹ･ｯｴﾖ､ﾎﾇﾓﾂｾﾀｩｸ�

ﾌ萃熙ﾎｸｶｰｬﾊｬ､ｫ､ﾃ､ｿｽ熙ﾇ｡｢ｲ靈｡､ﾘｽｬ､ｷ､ﾞ､ｷ､遉ｦ｡｣
ｼ｡､ﾎ･ﾗ･愠ｰ･鬣爨ﾂｹﾔ､ｷ､ﾆ､ｯ､ﾀ､ｵ､､
resource2.c
#include "kernel.h"
#include "kernel_id.h"
#include "ecrobot_interface.h"
#include "myrobot_interface.h"

DeclareCounter(SysTimerCnt);
DeclareResource(resource1);
DeclareTask(Task1);				/* Task1､�ｸﾀ */
DeclareTask(Task_bg);				/* Task_bg､�ｸﾀ */

int i=0;

void ecrobot_device_initialize(){		/* OSEKｵｯﾆｰｻ､ﾎｽ靉｡ﾊ･筍ｼ･ｿﾄ莉ﾟ｡ﾋ*/
nxt_motor_set_speed(NXT_PORT_B,0,0);
nxt_motor_set_speed(R_MOTOR,0,0);
}

void ecrobot_device_terminate(){		/* OSEKｽｪﾎｻｻ､ﾎｽ靉｡ﾊ･筍ｼ･ｿﾄ莉ﾟ｡ﾋ*/
nxt_motor_set_speed(L_MOTOR,0,0);
nxt_motor_set_speed(R_MOTOR,0,0);
}

void user_1ms_isr_type2(void){
    SignalCounter(SysTimerCnt);		/* ･ｫ･ｦ･ｿｴﾊｰﾗﾈﾇ */
}
#define SPEED 60
#define TURN_CNT 40
#define MOVE_CNT 120

#define TURN_TIME 500
#define MOVE_TIME 1000

TASK(Task1)
{
	if(i <= MOVE_CNT){
		nxt_motor_set_speed(L_MOTOR,SPEED,1);
		nxt_motor_set_speed(R_MOTOR,SPEED,1);
	}else if(i > MOVE_CNT && i <= TURN_CNT+MOVE_CNT){
		nxt_motor_set_speed(L_MOTOR,SPEED,1);
		nxt_motor_set_speed(R_MOTOR,-1*SPEED,1);	
	}else{
		i=0;
	}
	
	display_clear(0);
	display_goto_xy(0,1);
   	display_string("I=");		/* ﾊﾑｿﾎﾆ簣ﾆ､ｽｼｨ */
	display_int(i, 5);
	display_update();
	
	i++;
	
	TerminateTask();					/* ｽ靉ｽｪﾎｻ */
}

TASK(Task_bg){
	while(1){
		if(ecrobot_get_touch_sensor(PORT_TOUCH) == 1){
			GetResource(resource1);
			nxt_motor_set_speed(L_MOTOR,-1*SPEED,1);
			nxt_motor_set_speed(R_MOTOR,-1*SPEED,1);
			systick_wait_ms(MOVE_TIME);
			nxt_motor_set_speed(L_MOTOR,SPEED,1);
			nxt_motor_set_speed(R_MOTOR,-1*SPEED,1);
			systick_wait_ms(TURN_TIME);
			nxt_motor_set_speed(L_MOTOR,0,1);
			nxt_motor_set_speed(R_MOTOR,0,1);
			ReleaseResource(resource1);
		}
	}
	
	TerminateTask();
}

resource2.oil
#include "implementation.oil"

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

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

   TASK Task1						/* Task1 ､�ｵﾁ､ｹ､� */
  {
    AUTOSTART = FALSE;
    PRIORITY = 2;
    ACTIVATION = 1;
	RESOURCE = resource1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
  };

  TASK Task_bg						/* Task_bg ､�ｵﾁ */
  {
    AUTOSTART = TRUE { APPMODE = appmode1; };
    PRIORITY = 1;
    ACTIVATION = 1;
	RESOURCE = resource1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
  };

  COUNTER SysTimerCnt			/* SysTimerCnt､�ｵﾁ */
  {
    MINCYCLE = 1;
    MAXALLOWEDVALUE = 10000;
    TICKSPERBASE = 1; /* One tick is equal to 1msec */ 
  };

  ALARM cyclic_alarm1		/* ｼｴ�･｢･鬘ｼ･�1､�ｵﾁ */
  {
    COUNTER = SysTimerCnt;
    ACTION = ACTIVATETASK
    {
      TASK = Task1;
    };
    AUTOSTART = TRUE
    {
      ALARMTIME = 1;
      CYCLETIME = 10; /* Task1､ﾏ10msec､ｴ､ﾈ､ﾋｵｯﾆｰ */
      APPMODE = appmode1;
    };
  };

  RESOURCE resource1
  {
    RESOURCEPROPERTY = STANDARD;
  };

};

･ﾗ･愠ｰ･鬣爨ｰｺ釥ｵ､ｻ､ﾆｸｫ､ﾞ､ｷ､遉ｦ｡｣
ｺ｣ﾅﾙ､ﾏﾀｵ､ｷ､ｯﾆｰ､ｯ､ﾏ､ｺ､ﾇ､ｹ｡｣
､ｽ､�､ﾇ､ﾏ｡｢ｿｷ､ｷ､ｯﾍﾑ､､､ﾆ､､､�ｴﾘｿﾎｲ筅ｷ､ﾆ､､､ｭ､ﾞ､ｹ

｡ｦ ･ｽ｡ｼ･ｹ･ﾕ･｡･､･�

DeclareResource(resource1)
･�･ｽ｡ｼ･ｹ､�ｸﾀ､ｷ､ﾞ､ｹ｡｣

GetResource(resource1)
･�･ｽ｡ｼ･ｹ､ﾋｳ荀�ﾅﾆ､鬢�､ｿ･ｯ･�･ﾆ･｣･ｫ･�･ｻ･ｯ･ｷ･逾ﾋﾆ､熙ﾞ､ｹ｡｣
ReleaseResource(resource1)
･�･ｽ｡ｼ･ｹ､ﾋｳ荀�ﾅﾆ､鬢�､ｿ･ｯ･�･ﾆ･｣･ｫ･�･ｻ･ｯ･ｷ･逾ｫ､鯤ｴ､ｱ､ﾞ､ｹ｡｣

｡ｦ oil･ﾕ･｡･､･�

RESOURCE = resource1
ｳﾍﾆﾀ､ｹ､�･�･ｽ｡ｼ･ｹ､ﾎ･�･ｹ･ﾈ､ﾇ､ｹ｡｣･�･ｽ｡ｼ･ｹ､ﾍﾆﾀ､ｷ､ｨ､�･ｿ･ｹ･ｯ､ｹ､ﾙ､ﾆ､ﾋﾄ�ｵﾁ､ｷ､ﾞ､ｹ｡｣
RESOURCE resource1{｡ﾄ}
･�･ｽ｡ｼ･ｹ･ｪ･ﾖ･ｸ･ｧ･ｯ･ﾈ､�ｵﾁ､ｷ､ﾞ､ｹ｡｣

RESOURCEPROPERTY = STANDARD
STANDARD､ﾎ､ﾛ､ｫ､ﾋ｡｢LINKED, INTERNAL､ｬｻﾘﾄ熙ﾇ､ｭ､ﾞ､ｹ｡｣
ﾄﾌｾ�､ﾏSTANDARD､ﾈﾍﾑ､ｷ､ﾞ､ｹ｡｣

･ﾗ･愠ｰ･鬣爨ﾎﾎｮ､�､ﾏ､ｳ､ｦ､ﾊ､ﾃ､ﾆ､､､ﾞ､ｹ｡｣

resource3.png(9799 byte)

ｽ遉ﾉ､ﾃ､ﾆﾀ篶ﾀ､ｹ､�､ﾈ｡｢

ｭ｡Task_bg､ｬGetResource､ｹ､�､ﾈ｡｢Task_bg､ﾏﾇﾓﾂｾﾅｪｽ靉､ﾈ､ﾊ､�｡｣
ｭ｢Task_bg､ﾏﾇﾓﾂｾﾅｪｽ靉ｾﾖ､ﾋ､｢､�､ﾎ､ﾇ｡｢Task1､ﾏｼﾂｹﾔﾂﾔ､ﾁ､ﾈ､ﾊ､�｡｣
ｭ｣Task_bg､ｬReleaseResource､ｹ､�､ﾈ｡｢ﾄﾌｾ�､ﾎｽ靉､ﾋﾌ皃�｡｣
ｭ､ﾍ･ﾀ霰ﾙ､ﾎｹ筅､Task1､ﾋｼﾂｹﾔｸ｢､ｬﾅﾏ､ｵ､�､�｡｣
ｭ･Task1､ﾎｽ靉､ｬｽｪ､�､�､ﾈ｡｢Task_bg､ｬｼﾂｹﾔ､ｵ､�､�｡｣､｢､ﾈ､ﾏﾉ眛ﾌ､ﾎﾆｰｺ釥ｹ､�｡｣

･�･ｽ｡ｼ･ｹ､霹ﾀ､ｹ､�､ﾈ｡｢ﾂｾ､ﾎTask･ｪ･ﾖ･ｸ･ｧ･ｯ･ﾈ､ﾎﾃ讀ﾇ･�･ｽ｡ｼ･ｹ､ﾘﾄ熙ｷ､ﾆ､､､�･ｿ･ｹ･ｯ､ﾏｼﾂｹﾔ､ｵ､�､ﾞ､ｻ､｣
､ｳ､�､ﾏ｡｢･�･ｽ｡ｼ･ｹ､霹ﾀ､ｷ､ｿｺﾝ､ﾋﾍ･ﾀ霰ﾙ､ｬﾂｾ､隍�ｹ筅ｯ､ﾊ､�､ｳ､ﾈ､ﾋ､隍�ｼﾂｸｽ､ｵ､�､ﾆ､､､ﾞ､ｹ｡｣
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｢ｨﾉ眛ﾌ､ﾎｽ靉ｷﾏ､ﾋ､篝ﾜ､ｷ､､ﾊ､ﾘ
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