3 #include "kernel_id.h"
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4 #include "ecrobot_interface.h"
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6 /* OSEK declarations */
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7 DeclareCounter(SysTimerCnt);
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10 /* LEJOS OSEK hooks */
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11 void ecrobot_device_initialize()
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13 ecrobot_init_accel_sensor(NXT_PORT_S3);
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15 void ecrobot_device_terminate()
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17 ecrobot_term_accel_sensor(NXT_PORT_S3);
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20 /* LEJOS OSEK hook to be invoked from an ISR in category 2 */
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21 void user_1ms_isr_type2(void)
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25 ercd = SignalCounter(SysTimerCnt); /* Increment OSEK Alarm Counter */
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32 /* Task1 executed every 50msec */
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38 yaw_rate = ecrobot_get_gyro_sensor(NXT_PORT_S1);
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39 ecrobot_get_accel_sensor(NXT_PORT_S3, accel_data);
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43 display_goto_xy(0, 0);
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44 display_string("HiTech Test");
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46 display_goto_xy(0, 1);
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47 display_string("YAW: ");
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48 display_int(yaw_rate, 0);
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50 display_goto_xy(0, 2);
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51 display_string("X ACCEL:");
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52 display_int(accel_data[0], 0);
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54 display_goto_xy(0, 3);
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55 display_string("Y ACCEL:");
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56 display_int(accel_data[1], 0);
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58 display_goto_xy(0, 4);
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59 display_string("Z ACCEL:");
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60 display_int(accel_data[2], 0);
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