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linefollower.oil
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linefollower.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{};
TASK MotorControlTask
{
AUTOSTART = TRUE
{
APPMODE = appmode1;
};
PRIORITY = 1; /* Smaller value means lower priority */
ACTIVATION = 1;
SCHEDULE = FULL;
STACKSIZE = 512; /* Stack size */
};
TASK DisplayTask
{
AUTOSTART = FALSE;
PRIORITY = 2; /* Smaller value means lower priority */
ACTIVATION = 1;
SCHEDULE = FULL;
STACKSIZE = 512; /* Stack size */
};
/* Definition of OSEK Alarm Counter */
COUNTER SysTimerCnt
{
MINCYCLE = 1;
MAXALLOWEDVALUE = 10000;
TICKSPERBASE = 1; /* One tick is equal to 1msec */
};
/* Definition of DisplayTask execution timing */
ALARM cyclic_alarm1
{
COUNTER = SysTimerCnt;
ACTION = ACTIVATETASK
{
TASK = DisplayTask;
};
AUTOSTART = TRUE
{
ALARMTIME = 1;
CYCLETIME = 500; /* EventDispatcher is executed every 500msec */
APPMODE = appmode1;
};
};
};