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sumo.oil
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sumo.oil
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#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{};
RESOURCE DrivingControlResource
{
RESOURCEPROPERTY = STANDARD;
};
COUNTER SysTimerCnt
{
MINCYCLE = 1;
MAXALLOWEDVALUE = 10000;
TICKSPERBASE = 1; /* One tick is equal to 1msec */
};
ALARM display_cyclic_alarm
{
COUNTER = SysTimerCnt;
ACTION = ACTIVATETASK
{
TASK = DisplayTask;
};
AUTOSTART = TRUE
{
ALARMTIME = 1;
CYCLETIME = 250;
APPMODE = appmode1;
};
};
ALARM color_sensor_cyclic_alarm
{
COUNTER = SysTimerCnt;
ACTION = ACTIVATETASK
{
TASK = ColorSensorTask;
};
AUTOSTART = TRUE
{
ALARMTIME = 1;
CYCLETIME = 100;
APPMODE = appmode1;
};
};
ALARM motor_control_cyclic_alarm
{
COUNTER = SysTimerCnt;
ACTION = ACTIVATETASK
{
TASK = MotorcontrolTask;
};
AUTOSTART = TRUE
{
ALARMTIME = 1;
CYCLETIME = 50;
APPMODE = appmode1;
};
};
ALARM sonar_sensor_cyclic_alarm
{
COUNTER = SysTimerCnt;
ACTION = ACTIVATETASK
{
TASK = SonarSensorTask;
};
AUTOSTART = TRUE
{
ALARMTIME = 1;
CYCLETIME = 100;
APPMODE = appmode1;
};
};
/* Tasks */
TASK MotorcontrolTask
{
AUTOSTART = FALSE;
PRIORITY = 1 ; /* Smaller value means lower priority */
ACTIVATION = 1;
SCHEDULE = FULL;
STACKSIZE = 512; /* Stack size */
RESOURCE = DrivingControlResource;
};
TASK DisplayTask
{
AUTOSTART = FALSE;
PRIORITY = 10; /* Smaller value means lower priority */
ACTIVATION = 1;
SCHEDULE = FULL;
STACKSIZE = 512; /* Stack size */
};
TASK ColorSensorTask
{
AUTOSTART = FALSE;
PRIORITY = 2; /* Smaller value means lower priority */
ACTIVATION = 1;
SCHEDULE = FULL;
STACKSIZE = 512; /* Stack size */
RESOURCE = DrivingControlResource;
};
TASK SonarSensorTask
{
AUTOSTART = FALSE;
PRIORITY = 5; /* Smaller value means lower priority */
ACTIVATION = 1;
SCHEDULE = FULL;
STACKSIZE = 512; /* Stack size */
RESOURCE = DrivingControlResource;
};
TASK SetupTask
{
AUTOSTART = TRUE
{
APPMODE = appmode1;
};
PRIORITY = 1;
ACTIVATION = 1;
SCHEDULE = FULL;
STACKSIZE = 512;
};
};