I've moved file handling routines from original lego firmware and bounded it to osek. It works quite fine. It's still in kind of development (I should incorporate these routins in ecrobot/c and test it a bit as I did it today). If you want the current code contact me by e-mail.
Of course you have to have enhanced firmware installed on brick to use its filesystem.
Here are the oil spec: http://portal.osek-vdx.org/files/pdf/specs/oil25.pdf
I am not sure if nxtOsek is fully compatible with that spec, but I think it can be a good reference fo you.
Problem with code is that the two task start running concurrently. In TurnTask the condition is checked and of course it's yet not fulfilled. There is no point in defining two tasks for that scenario. If you...
