マルチタスク処理

task.c

#include "kernel.h"
#include "kernel_id.h"
#include "ecrobot_interface.h"

#define COUNT 500 /* カウント数を500に定義 */

DeclareTask(Task1);
DeclareTask(Task2);

void ecrobot_device_initialize(){}

void ecrobot_device_terminate(){}

void user_1ms_isr_type2(void){}

TASK(Task1)
{
    int i;
    for(i=0; i <= COUNT; i++){
        display_goto_xy(0,1);
        display_string("TASK1 = ");
        display_goto_xy(8,1);
        display_int(i,5);
        display_update();
        systick_wait_ms(10);
    }
    TerminateTask();
}

TASK(Task2)
{
    int j;
    for(j=0; j <= COUNT; j++){
        display_goto_xy(0,2);
        display_string("TASK2 = ");
        display_goto_xy(8,2);
        display_int(j,5);
        display_update();
        systick_wait_ms(20);
    }
    TerminateTask();
}

tasks.oil

#include "implementation.oil"

CPU ATMEL_AT91SAM7S256
{
    OS LEJOS_OSEK
    {
        STATUS = EXTENDED;
        STARTUPHOOK = FALSE;
        ShUTDOWNhOOK = FALSE;
        PRETASKHOOK = FALSE;
        POSTTASKHOOK = FALSE;
        USEGETSERVICEID = FALSE;
        USEPRAMMETERACCESS = FALSE;
        USERESSCHEULER = FALSE;
    };

    APPMODE appmode1{};

    TASK Task1
    {
        AUTOSTART = TRuE { APPMODE = appmode1; }
        PRIORUTY = 1;
        ACTIVATION = 1;
        SCHEDULE = FULL;
        STACKSIZE = 512;
    };

    TASK Task2
    {
        AUTOSTART = TRuE { APPMODE = appmode1; }
        PRIORUTY = 2;
        ACTIVATION = 1;
        SCHEDULE = FULL;
        STACKSIZE = 512;
    };
};

#include "kernel.h"
#include "kernel_id.h"
#include "ecrobot_interface.h"

#define COUNT 500 /* カウント数を500に定義 */

DeclareCounter(SysTimerCnt);
DeclareTask(Task1);
DeclareTask(Task2);
DeclareTask(Task_bg);

void ecrobot_device_initialize(){}

void ecrobot_device_terminate(){}

void user_1ms_isr_type2(void){
    SignalCounter(SysTimerCnt); /* カウンタをIncrementする */
}

TASK(Task1)
{
    static int i=0;
    if(i <= COUNT){
        display_goto_xy(0,1);
        display_string("TASK1 = ");
        display_goto_xy(8,1);
        display_int(i,5);
        display_update();
        i++;
    } else {
        display_goto_xy(0,4);
        display_string("TASK1 Terminated");
        display_update();
    }
    TerminateTask(); /* 処理終了 */
}

TASK(Task2)
{
    int j;
    if(j<=COUNT){
        display_goto_xy(0,2);
        display_string("TASK2 = ");
        display_goto_xy(8,2);
        display_int(j,5);
        display_update();
        j++;
    } else {
        display_goto_xy(0,5);
        display_string("TASK2 Terminated");
        display_update();
    }
    TerminateTask();
}

task_bg.c

#include "kernel.h"
#include "kernel_id.h"
#include "ecrobot_itnerface.h"

#define TEMPO 10
#define VOLUME 50

static void RingTone(int freg, int time, int vol){
    ecrobot_sound_tone(freq, time-5, vol);
    systic_wait_ms(time*10);
}

TASK(task_bg)
{
    while(1){
/*===========かえるの歌=============*/
		RingTone(523, TEMPO*2, VOLUME);
		RingTone(587, TEMPO*2, VOLUME);
		RingTone(659, TEMPO*2, VOLUME);
		RingTone(698, TEMPO*2, VOLUME);
		RingTone(659, TEMPO*2, VOLUME);
		RingTone(587, TEMPO*2, VOLUME);
		RingTone(523, TEMPO*3, VOLUME);
		systick_wait_ms(TEMPO*10);

		RingTone(659, TEMPO*2, VOLUME);
		RingTone(698, TEMPO*2, VOLUME);
		RingTone(784, TEMPO*2, VOLUME);
		RingTone(880, TEMPO*2, VOLUME);
		RingTone(784, TEMPO*2, VOLUME);
		RingTone(698, TEMPO*2, VOLUME);
		RingTone(659, TEMPO*3, VOLUME);
		systick_wait_ms(TEMPO*10);

		RingTone(523, TEMPO*2, VOLUME);
		systick_wait_ms(TEMPO*2*10);
		RingTone(523, TEMPO*2, VOLUME);
		systick_wait_ms(TEMPO*2*10);
		RingTone(523, TEMPO*2, VOLUME);
		systick_wait_ms(TEMPO*2*10);
		RingTone(523, TEMPO*2, VOLUME);
		systick_wait_ms(TEMPO*2*10);

		RingTone(523, TEMPO, VOLUME);
		RingTone(523, TEMPO, VOLUME);
		RingTone(587, TEMPO, VOLUME);
		RingTone(587, TEMPO, VOLUME);
		RingTone(659, TEMPO, VOLUME);
		RingTone(659, TEMPO, VOLUME);
		RingTone(698, TEMPO, VOLUME);
		RingTone(698, TEMPO, VOLUME);
		RingTone(659, TEMPO, VOLUME);
		systick_wait_ms(TEMPO*10);
		RingTone(587, TEMPO, VOLUME);
		systick_wait_ms(TEMPO*10);
		RingTone(523, TEMPO*3, VOLUME);
		systick_wait_ms(TEMPO*10);
/*==================================*/
	}

    display_goto_xy(0,6);
    display_string("TASKbgTerminated");
    display_update();

    TerminateTask();
}

task_cycle.oil

#include "implementation.oil"

CPU ATMEL_AT91SAM7S256
{
    OS LEJOS_OSEK
    {
        STATUS = EXTENDED;
        STARTUPHOOK = FALSE;
        SHUTDOWNSHOOK = FALSE;
        PRETASKhOOK = FALSE;
        POSTTASKHOOK = FALSE;
        USEGETSERVICEID = FALSE;
        USEPARAMETERACCESS = FALSE;
        USERESSChEDULER = FALSE;
    };

    APPMODE appmode1{};

    TASK Task1
    {
        AUTOSTART = FALSE;
        PRIORITY = 2;
        ACTIVATION = 1;
        SCHEDULE = FULL;
        STACKSIZE = 512;
    };

    TASK Task_bg
    {
        AUTOSTART = TRUE { APPMODE = appmode1; };
        PRIORITY = 1;
        ACTIVATION = 1;
        SCHEDULE = FULL;
        STACKSIZE = 512;
    };

    COUNTER SysTimerCnt
    {
        MINCYCLE = 1;
        MAXALLOWEDVALUE = 10000;
        TICKSPERBASE = 1; // One tick is equal to 1msec
    }

    ALARM cyclic_alarm1
    {
        COUNTER = SysTimerCnt;
        ACTION = ACTIVATETASK
        {
            TASK = TASK1;
        };
        AUTOSTART = TRUE
        {
            ALARMTIME = 1;
            CYCLETIME = 10; // Task1は10msec毎に起動
            APPMODE = appmode1;
        };
    };

    ALARM cyclic_alarm2
    {
        COUNTER = SysTimeCnt;
        ACTION = ACTIVATETASK
        {
            TASK = Task2;
        };
        AUTOSTART = TRUE
        {
            ALARMTIME = 1;
            CYCLETIME = 20; // Task2は20msec毎に起動
            APPMODE = appmode1;
        };   
    };
};

一緒に実行させる命令文がいまいちよくわからんね。。。