Makefile
# Target specific macros
NXTOSEK_ROOT = /nxtOSEK
TARGET = Aodai00
TARGET_SOURCES = Aodai00.c
TOPPERS_OSEK_OIL_SOURCE = ./Aodai00.oil
# Don't modify below part
O_PATH ?= build
include $(NXTOSEK_ROOT)/ecrobot/ecrobot.mak
Aodai00.c
/******************************************************************************
* Aodai00.c 画面にセンサー値やモータ角度を表示する
*****************************************************************************/
#include "kernel.h"
#include "kernel_id.h"
#include "ecrobot_interface.h"
void ecrobot_device_initialize(void){}
void ecrobot_device_terminate(void){}
void user_1ms_isr_type2(void){}
TASK(DisplayTask)
{
while(1)
{
ecrobot_status_monitor("Aodairoboconken"); /* 画面にセンサー値やモータ角度を表示する */
systick_wait_ms(500); /* 500ミリ秒待機する */
}
}
Aodai.oil
#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;
};
APPMODE appmode1{};
TASK DisplayTask
{
AUTOSTART = TRUE
{
APPMODE = appmode1;
};
PRIORITY = 1;
ACTIVATION = 1;
SCHEDULE = FULL;
STACKSIZE = 512;
};
};