diff --git a/_build/html/.doctrees/environment.pickle b/_build/html/.doctrees/environment.pickle
index 93ca32d..1b690c5 100644
--- a/_build/html/.doctrees/environment.pickle
+++ b/_build/html/.doctrees/environment.pickle
Binary files differ
diff --git a/_build/html/.doctrees/faq.doctree b/_build/html/.doctrees/faq.doctree
new file mode 100644
index 0000000..9061f85
--- /dev/null
+++ b/_build/html/.doctrees/faq.doctree
Binary files differ
diff --git a/_build/html/.doctrees/index.doctree b/_build/html/.doctrees/index.doctree
index bd84052..26581bd 100644
--- a/_build/html/.doctrees/index.doctree
+++ b/_build/html/.doctrees/index.doctree
Binary files differ
diff --git a/_build/html/.doctrees/intro.doctree b/_build/html/.doctrees/intro.doctree
index 42679d2..f3b903c 100644
--- a/_build/html/.doctrees/intro.doctree
+++ b/_build/html/.doctrees/intro.doctree
Binary files differ
diff --git a/_build/html/.doctrees/pre.doctree b/_build/html/.doctrees/pre.doctree
index b00197e..30c5a47 100644
--- a/_build/html/.doctrees/pre.doctree
+++ b/_build/html/.doctrees/pre.doctree
Binary files differ
diff --git a/_build/html/.doctrees/week1.doctree b/_build/html/.doctrees/week1.doctree
index e33116a..23155c0 100644
--- a/_build/html/.doctrees/week1.doctree
+++ b/_build/html/.doctrees/week1.doctree
Binary files differ
diff --git a/_build/html/.doctrees/week2.doctree b/_build/html/.doctrees/week2.doctree
index 4c2d969..b705dd1 100644
--- a/_build/html/.doctrees/week2.doctree
+++ b/_build/html/.doctrees/week2.doctree
Binary files differ
diff --git a/_build/html/_images/lcd_sample.png b/_build/html/_images/lcd_sample.png
new file mode 100644
index 0000000..b424615
--- /dev/null
+++ b/_build/html/_images/lcd_sample.png
Binary files differ
diff --git a/_build/html/_images/servohat.png b/_build/html/_images/servohat.png
new file mode 100644
index 0000000..4f8cf1c
--- /dev/null
+++ b/_build/html/_images/servohat.png
Binary files differ
diff --git a/_build/html/_sources/faq.rst.txt b/_build/html/_sources/faq.rst.txt
new file mode 100644
index 0000000..ee3bac7
--- /dev/null
+++ b/_build/html/_sources/faq.rst.txt
@@ -0,0 +1,18 @@
+Frequently-Asked Questions （FAQ: よくある質問）
+===================================
+
+電源がはいらない
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+- 充電が不十分である可能性があります。ケーブルを接続してしばらく充電してみましょう。
+- シリアルポートが認識されていれば、適当なプログラム（画面表示するほうがわかりやすい）を書き込んでみましょう。
+
+
+プログラムの書き込みができない
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+- USB-TypeCの向き(!!)をかえてみましょう。改善する場合があります。
+
+
+再起動を繰り返す
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+- タスク化した関数を抜ける(終了する)ときに、自タスクを終了していない可能性があります。
+- その他、タスクに割り当てるメモリが足りない場合など、メモリ使用の不具合も、再起動を引き起こすことがあります。
\ No newline at end of file
diff --git a/_build/html/_sources/index.rst.txt b/_build/html/_sources/index.rst.txt
index aeef49d..77f1f1c 100644
--- a/_build/html/_sources/index.rst.txt
+++ b/_build/html/_sources/index.rst.txt
@@ -18,6 +18,7 @@
    pre
    week1
    week2
+   faq
 ..   arduino
 ..   tutorial
    conclusion
diff --git a/_build/html/_sources/intro.rst.txt b/_build/html/_sources/intro.rst.txt
index 1663260..a5c2615 100644
--- a/_build/html/_sources/intro.rst.txt
+++ b/_build/html/_sources/intro.rst.txt
@@ -21,7 +21,9 @@
 - 1週目の予習：M5StickCPlusの予備調査、開発環境の構築
 - 1週目： M5StickCPlus の基本的な使用法と、機能の確認、グループで完成させる「システム」や「作品」についての話し合い、調査・開発の分担
 - 1週目〜2週目の期間：分担した調査・開発をすすめ、記録を残す。部分的な統合試験を行う。
-- 2週目： 分担して構築した機能の統合と動作試験、レポートの執筆、発表会に向けた準備と、情報共有
+- 2週目： 分担して構築した機能の統合と動作試験、報告書(レポート)の執筆、発表会に向けた準備と、情報共有
+
+`報告書の雛形 <https://docs.google.com/document/d/1NdvuHJ9wn09ZZ10xYCM-vMOOj3tjALfLL5VEKULvC6g/edit?usp=sharing>`_ ←こちらをコピー＆班で共有し、班単位でまとめて執筆・提出していただきます。
 
 評価基準
 ----------------
@@ -45,6 +47,6 @@
 参考URL
 ==========================================
 
-- M5StickC非公式日本語リファレンス <https://lang-ship.com/reference/unofficial/M5StickC></https:>
-- スイッチサイエンス M5StickC Plus <https://www.switch-science.com/catalog/6470>
-- M5StickCガイド<https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/M5StickC_Guide_Japanese.pdf>
\ No newline at end of file
+- M5StickC非公式日本語リファレンス https://lang-ship.com/reference/unofficial/M5StickC
+- スイッチサイエンス M5StickC Plus https://www.switch-science.com/catalog/6470
+- M5StickCガイド https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/M5StickC_Guide_Japanese.pdf
\ No newline at end of file
diff --git a/_build/html/_sources/pre.rst.txt b/_build/html/_sources/pre.rst.txt
index c8a4b53..cfd7220 100644
--- a/_build/html/_sources/pre.rst.txt
+++ b/_build/html/_sources/pre.rst.txt
@@ -4,7 +4,7 @@
 ========================
 
 M5StickC Plus <https://www.switch-science.com/catalog/6470> に、プログラムを書き込むためには、
-開発環境（Arduino）のインストールと、設定が必要になります。
+開発環境（Arduino IDE）のインストールと、設定が必要になります。
 
 .. note::  M5StickC Plusは、2017年に発売されたM5StickC の後継版です。ディスプレイサイズと解像度、バッテリ容量が向上しています。また、ブザーも追加されているため、簡単な音を本体のみで鳴らすことができます。
 
diff --git a/_build/html/_sources/week1.rst.txt b/_build/html/_sources/week1.rst.txt
index fc2d047..114f84b 100644
--- a/_build/html/_sources/week1.rst.txt
+++ b/_build/html/_sources/week1.rst.txt
@@ -24,11 +24,11 @@
 コードを書くときのヒントと注意
 -------------------------------------------------------
 
-- 以下のソースコード例は、右上のボタンを押すと、クリップボードに簡単にコピーできます。
+- 以下のソースコード例は、リストの右上の□ボタンを押すと、クリップボードに簡単にコピーできます。右上のボタンが表示されていないときは、右にスクロールしてください。
 - ソースコードのインデントは、CTRL+T （Macの場合はCommand+T）キーで、自動整形できます。
-- ``#include <M5StickC.h>``  は、M5StickC用のコードです。 **M5StickCPlus** では、``#include <M5StickCPlus.h>`` に変更しないと、表示がおかしくなることがあります。
+- ``#include <M5StickC.h>``  は、M5StickC用のヘッダファイル指定です。 **M5StickCPlus** では、画面解像度が異なるので、 ``#include <M5StickCPlus.h>`` に変更しないと、表示がおかしくなることがあります。
 - 大文字と小文字は厳密に区別されます。
-- 画面をつかうプログラムを書き込んだあと、画面を使わないプログラムを書き込むと、前のプログラムの画面が残ることがあります。
+- 画面(LCD)をつかうプログラムを書き込んだあと、画面を使わないプログラムを書き込むと、前のプログラムの画面が残ることがあります。
 - スケッチブック（プログラムを構成する、複数のソースコードを含むファイル、他のIDEではプロジェクトと呼ぶ場合もある）をコピーしたいときは、内包するフォルダごとコピーしてください。その際、フォルダ名と、メインのソースコードファイル名（拡張子以外の部分）は、一致している必要があります。
 
 Serial通信
@@ -71,6 +71,9 @@
   :linenos:
 ..  :emphasize-lines: 10-14
 
+.. figure:: images/lcd_sample.png
+   :scale: 100%
+
 画面の向きは、setRotation() 関数で、設定します。0〜3までの整数で、指定します。
 
 .. figure:: images/setRotation.gif
@@ -136,7 +139,7 @@
 内蔵LED（赤・赤外） 
 ----------------------------------------
 
-M5StickCPlusには、2つのLEDランプが内蔵されています。GPIO(General Purpose I/O)10 には、赤色LED、GPIO9 には、赤外LEDが接続されています。
+M5StickCPlusには、2つのLEDランプが内蔵されています。GPIO(General Purpose Input/Output)の10番 には、赤色LED、GPIO9 には、赤外LEDが接続されています。
 場所は、USBケーブルを挿す面の反対側の面にある、小さな穴2つの内側です。
 
 :numref:`led01` は、赤色LEDを点滅させるシンプルなプログラムです。
@@ -186,6 +189,10 @@
 
 :numref:`servohat01` は、`サーボハット <https://www.switch-science.com/catalog/6076>`_ のサーボモータを動かすサンプルです。サーボモータの制御はPWMですので、基本的に、上のPWMとやっていることは同じです。おまけとして、LEDも点灯させました。``map関数`` は、Arduinoで使える関数で、範囲に対応する値を変換するときに使います。ここでは、サーボ制御で用いる5〜33の値を、LED制御の値0〜256に変換しています。
 
+.. figure:: images/servohat.png
+   :scale: 70%
+
+
 .. literalinclude:: src/servohat01.ino
   :caption: 
   :name: servohat01
@@ -229,7 +236,7 @@
   :name: accgyro01
   :language: arduino
   :linenos:
-..  :emphasize-lines: 6-7, 15,19
+  :emphasize-lines: 11,16-17
 
 
 赤外(InfraRed)リモコン
@@ -258,7 +265,7 @@
 ~~~~~~~~~~~~~~~~~~~~~~~~
 
 内蔵の赤外LEDを用いて、信号を送信する例を :numref:`irsend01` に示します。
-内蔵の赤外LED光はあまり強くないため、50cm程度まで近づかないと反応しない場合があります。
+内蔵の赤外LED光はあまり強くないため、50cm程度まで近づかないと反応しない場合があります。また、太陽光の影響を強く受けます。
 単体の赤外LEDを接続して用いると、距離を伸ばすことができます。
 
 なお、NECフォーマットではない赤外線リモコンの通信フォーマットについては、 `赤外線リモコンの通信フォーマット <http://elm-chan.org/docs/ir_format.html>`_ や、スケッチ例を参考にしてください。
@@ -310,7 +317,7 @@
 ``WiFiServer server(23)`` で、23番ポートで待ち受けるサーバを、作成しています。
 ちなみに、``WiFiMulti`` は、複数のアクセスポイントに対して、Wifi接続を試みることができる機能（クラス）です。ただし、最終的に繋がるのは1つのアクセスポイントになります。
 
-.. note:: Telnet接続を切断するときは、まずControlキーをおしながら ``]`` をおしてください。プロンプトが ``telnet>`` と表示されますので、``quit`` と打ち込むと終了します。 ``Escape character is '^]'.`` の ``^`` は、Controlキーのことです。
+.. note:: Telnet接続を切断するときは、まずControlキーをおしながら ``]`` をおしてください。プロンプトに ``telnet>`` と表示されますので、``quit`` と打ち込むと終了します。 ``Escape character is '^]'.`` の ``^`` は、Controlキーのことです。
 
 .. literalinclude:: src/telnet01.ino
   :caption: 
@@ -373,7 +380,7 @@
 
 作成した「コード.gs」について、「公開」→「ウェブアプリケーションとして導入...」で、Webアプリとして公開できます。（なお、「新しいエディタ」では表示が異なるため、できない可能性があります。）
 
-作成できたかどうかをパソコンから確認するには、コマンドラインから、以下のように入力します（ただし、curlが必要です。val1=10 と val2=20 のあいだは＆記号ですので、シェルでバックグラウンド処理されないように、URLをシングルクォートで囲っています） ::
+作成できたかどうかをパソコンから確認するには、コマンドラインから、以下のように入力します（ただし、curlが必要です。val1=10 と val2=20 のあいだは＆記号ですので、シェルでバックグラウンド処理されないように、URLをシングルクォートで囲っています。-L (--location)は、リダイレクト先にリクエストを発行するcurlのオプションです。） ::
 
    curl -L  'https://script.google.com/macros/s/XxXxXxXxXx/exec?val1=10&val2=20' 
 
@@ -385,12 +392,12 @@
   :linenos:
   :emphasize-lines: 14
 
-
+.. warning:: doGet関数の返却値は、本来はHTTPのレスポンスとして受け取れるのですが、現状の ``HTTPClient`` ではリダイレクトをうまく処理できないため、Google App Scriptの出力を受け取れない可能性があります。
 
 WebServer
 ----------------------------------------
 
-すこし長いですが、:numref:`httpserver01` は、80番ポートでHTTPでの通信を待ち受け(listenし)て、クライアントからの接続情報（ヘッダ情報）を返すWebサーバのシンプルな例です。クライアント（ブラウザ）からのリクエスト行のうち、 ``GET`` または ``POST`` ではじまる行があれば、変数 ``meth`` に格納します。つまり、変数 ``meth`` には、ブラウザで発行したリクエストのURLが含まれることになります。POSTメソッドで送信されていれば、リクエストボディに記述されたデータを変数 ``post`` に格納します。 クライアント（ブラウザ）に返す「レスポンス」は、 ``client.println()`` で送信します。最後に、``client.stop()`` で、サーバ側から接続を切断します。
+すこし長いですが、:numref:`httpserver01` は、80番ポートでHTTPでの通信を待ち受け(listenし)て、クライアントからの接続情報（ヘッダ情報）を返すWebサーバのシンプルな例です。クライアント（ブラウザ）からのリクエスト行のうち、 ``GET`` または ``POST`` ではじまる行があれば、変数 ``meth`` に格納します。つまり、変数 ``meth`` には、ブラウザで発行したリクエストのURLが含まれることになります。（methはmethodの略。）POSTメソッドで送信されていれば、リクエストボディに記述されたデータを変数 ``post`` に格納します。 クライアント（ブラウザ）に返す「レスポンス」は、 ``client.println()`` で送信します。最後に、``client.stop()`` で、サーバ側から接続を切断します。
 
 .. literalinclude:: src/httpserver01.ino
   :caption: 
@@ -400,7 +407,7 @@
   :emphasize-lines: 18,22,26,43,80
 
 センサデータを返すだけなら問題ありませんが、クライアントからのデータを GET / POST で受信して処理する場合は、 ``key1=val1&key2=val2`` のような文字列を要素に分解する必要がでてきます。あまり深入りしませんが、正規表現で文字列を照合・抽出する ``Regexp`` や、抽出した結果をハッシュ/辞書として保存する ``Dictionary`` ライブラリを導入すると、複雑なリクエストやデータを扱いやすくなるでしょう。
-:numref:`regexp01` に、RGBの色指定文字列などのリクエスト文字列をパースして辞書に追加するプログラムの断片を示します。**注意：このプログラムは、単体では動作しません**
+:numref:`regexp01` に、RGBの色指定文字列などのリクエスト文字列をパースして辞書に追加するプログラムの断片を示します。**注意：このプログラム（** :numref:`regexp01` **）は、単体では動作しません**
 
 .. literalinclude:: src/regexp01.ino
   :caption: 
@@ -537,10 +544,9 @@
   :linenos:
 
 
-その他
--------------------------------------
-- CO2 (CCS811)
-- RCS-620S (Felica)
-- JJYClock
-- RTC(BM8563)
-- OTA
+.. その他
+.. - CO2 (CCS811)
+.. - RCS-620S (Felica)
+.. - JJYClock
+.. - RTC(BM8563)
+.. - OTA
diff --git a/_build/html/_sources/week2.rst.txt b/_build/html/_sources/week2.rst.txt
index 0e09e28..bb54aa3 100644
--- a/_build/html/_sources/week2.rst.txt
+++ b/_build/html/_sources/week2.rst.txt
@@ -21,14 +21,14 @@
 
 :numref:`task01` に、タスクを利用する例を示します。3つの異なるタスクを作成し、それぞれの関数内部で ``setup()`` と ``loop()`` に相当する処理を記述しています。
 引数の詳細については、`非公式日本語リファレンス <https://lang-ship.com/reference/unofficial/M5StickC/Functions/freertos/task>`_ を参照してください。
-ここの例では、1つのファイルに記述していますが、タスクごとに別のファイルにすることもできます。 例では使用していませんが、 ``TaskHandle_t`` は、タスクの一時停止（サスペンド）や、再開（レジューム）、削除のときに利用します。
+ここの例では、1つのファイルに記述していますが、タスクごとに別のファイルにすることもできます。 以下の例ではタスク生成時に、タスクハンドル ``TaskHandle_t`` を設定しています。タスクハンドルは、タスクの一時停止（サスペンド）や、再開（レジューム）、削除のときにタスクを特定するために必要となります。
 
 .. literalinclude:: src/task01.ino
   :caption: 
   :name: task01
   :language: arduino
   :linenos:
-..  :emphasize-lines: 6-7, 15,19
+  :emphasize-lines: 4,63-65
 
 .. note:: 参考：  `FreeRTOSでマルチタスク (on ESP32) <https://qiita.com/hideakitai/items/bd95d0db63097b8808f9>`_
 
@@ -46,17 +46,38 @@
 ミューテックスとセマフォ
 ----------------------------------------------------------
 
-複数のタスクを並列動作させると、リソースに同時アクセスすることで意図しない動作を引き起こすことがあります。
-ミューテックスを用いると、リソースに同時にアクセスできるタスクを限定することができます。これを「排他制御」と呼びます。
+複数のタスクを並列動作させると、リソース（入出力や、メモリ）に複数のタスクが同時アクセスすることで意図しない動作を引き起こすことがあります。
+ミューテックス(mutex: mutual exclusion)を用いると、リソースに同時にアクセスするタスクを1つに限定することができます。これを「排他制御」と呼びます。
 
-バイナリセマフォは、タスク間またはタスクと割り込み間の同期に適しています。
-バイナリセマフォとミューテックスは似ていますが、いくつか本質的な違いがあります。ミューテックスは優先度を継承する機構が備わっていますが、バイナリセマフォには備わっていません。
+:numref:`task02` の例では、ミューテックスをつかって、1つのタスクの動作（シリアルコンソールへの書き込み）が終わるまで、他のタスクが待つ例です。
+このように、常時動いているタスクに対して、一時停止したり、処理を制限したりするのがミューテックスの使い方です。
+（参考：`ESP32のFreeRTOS入門 その6 セマフォとミューテックス <https://lang-ship.com/blog/work/esp32-freertos-l06-semaphore-mutex>`_ ）
 
-
-
-.. note:: 参考: `RTOS binary semaphore API <https://www.freertos.org/xSemaphoreCreateBinary.html>`_ 
-
+これに対して、セマフォは、基本的には待機・一時停止状態にあるタスクに対して、動作許可を与える用途で使用されます。
+動作許可を与える主体・タイミングとしては、他のタスクや、「割り込み(ISR: interrupt service routine)」からになります。
 ただし、バイナリセマフォを用いるより、`RTOS Task Notifications <https://www.freertos.org/RTOS_Task_Notification_As_Binary_Semaphore.html>`_
 を用いたほうが、高速かつメモリ使用量を削減できるようです。
 
+- バイナリセマフォは、タスク間またはタスクと割り込み間の同期に適しています。
+- バイナリセマフォとミューテックスは似ていますが、いくつか本質的な違いがあります。ミューテックスは優先度を継承する機構が備わっていますが、バイナリセマフォには備わっていません。
+
+.. note:: 参考: `RTOS binary semaphore API <https://www.freertos.org/xSemaphoreCreateBinary.html>`_ 
+
+キュー
+--------------------------------------
+
+参考：`ESP32のFreeRTOS入門 その5 キュー <https://lang-ship.com/blog/work/esp32-freertos-l05-queue>`_ 
+
+
+
+FreeRTOSと、その他のRTOS
+----------------------------------
+
+今回の実験では、Arduino IDEでのM5StickCPlusプログラミングを行ってきました。これまでArduino IDEでM5StickCPlusに書き込んできたプログラムは、FreeRTOS (RealTime OS) というRTOSの仕組みをつかって動作しています。
+いいかえると、ESP32プロセッサ上で、FreeRTOS プログラミングをしていたことになります。ちなみに、M5StickCPlusのような画面やブザー、センサがついていない `ESP32プロセッサ開発ボード <https://akizukidenshi.com/catalog/g/gM-15673>`_ も販売されています。
+
 - MCU RTOS習得(2020年版) http://happytech.jp/bRTOS.html
+
+その他のRTOSには、T-Kernel や ThreadX があります。こちらも、限られた資源（メモリやプロセッサ）で、厳密な処理時間管理が行える仕組みが備わっています。
+
+- 参考：`2020年度 情報通信工学実験1 リアルタイムプログラミング【RTP】 <https://cit.istlab.info/ex1>`_
\ No newline at end of file
diff --git a/_build/html/_static/jquery.js b/_build/html/_static/jquery.js
index 7e32910..888a82f 100644
--- a/_build/html/_static/jquery.js
+++ b/_build/html/_static/jquery.js
@@ -9,7 +9,7 @@
  * Released under the MIT license
  * https://jquery.org/license
  *
- * Date: 2019-04-19T06:52Z
+ * Date: 2021-03-09T19:42Z
  */
 ( function( global, factory ) {
 
@@ -4676,11 +4676,40 @@
 
 
 
-// We have to close these tags to support XHTML (#13200)
-var wrapMap = {
+( function() {
+	var fragment = document.createDocumentFragment(),
+		div = fragment.appendChild( document.createElement( "div" ) ),
+		input = document.createElement( "input" );
+
+	// Support: Android 4.0 - 4.3 only
+	// Check state lost if the name is set (#11217)
+	// Support: Windows Web Apps (WWA)
+	// `name` and `type` must use .setAttribute for WWA (#14901)
+	input.setAttribute( "type", "radio" );
+	input.setAttribute( "checked", "checked" );
+	input.setAttribute( "name", "t" );
+
+	div.appendChild( input );
+
+	// Support: Android <=4.1 only
+	// Older WebKit doesn't clone checked state correctly in fragments
+	support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked;
+
+	// Support: IE <=11 only
+	// Make sure textarea (and checkbox) defaultValue is properly cloned
+	div.innerHTML = "<textarea>x</textarea>";
+	support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue;
 
 	// Support: IE <=9 only
-	option: [ 1, "<select multiple='multiple'>", "</select>" ],
+	// IE <=9 replaces <option> tags with their contents when inserted outside of
+	// the select element.
+	div.innerHTML = "<option></option>";
+	support.option = !!div.lastChild;
+} )();
+
+
+// We have to close these tags to support XHTML (#13200)
+var wrapMap = {
 
 	// XHTML parsers do not magically insert elements in the
 	// same way that tag soup parsers do. So we cannot shorten
@@ -4693,12 +4722,14 @@
 	_default: [ 0, "", "" ]
 };
 
-// Support: IE <=9 only
-wrapMap.optgroup = wrapMap.option;
-
 wrapMap.tbody = wrapMap.tfoot = wrapMap.colgroup = wrapMap.caption = wrapMap.thead;
 wrapMap.th = wrapMap.td;
 
+// Support: IE <=9 only
+if ( !support.option ) {
+	wrapMap.optgroup = wrapMap.option = [ 1, "<select multiple='multiple'>", "</select>" ];
+}
+
 
 function getAll( context, tag ) {
 
@@ -4829,32 +4860,6 @@
 
 	return fragment;
 }
-
-
-( function() {
-	var fragment = document.createDocumentFragment(),
-		div = fragment.appendChild( document.createElement( "div" ) ),
-		input = document.createElement( "input" );
-
-	// Support: Android 4.0 - 4.3 only
-	// Check state lost if the name is set (#11217)
-	// Support: Windows Web Apps (WWA)
-	// `name` and `type` must use .setAttribute for WWA (#14901)
-	input.setAttribute( "type", "radio" );
-	input.setAttribute( "checked", "checked" );
-	input.setAttribute( "name", "t" );
-
-	div.appendChild( input );
-
-	// Support: Android <=4.1 only
-	// Older WebKit doesn't clone checked state correctly in fragments
-	support.checkClone = div.cloneNode( true ).cloneNode( true ).lastChild.checked;
-
-	// Support: IE <=11 only
-	// Make sure textarea (and checkbox) defaultValue is properly cloned
-	div.innerHTML = "<textarea>x</textarea>";
-	support.noCloneChecked = !!div.cloneNode( true ).lastChild.defaultValue;
-} )();
 var documentElement = document.documentElement;
 
 
@@ -5591,13 +5596,6 @@
 
 var
 
-	/* eslint-disable max-len */
-
-	// See https://github.com/eslint/eslint/issues/3229
-	rxhtmlTag = /<(?!area|br|col|embed|hr|img|input|link|meta|param)(([a-z][^\/\0>\x20\t\r\n\f]*)[^>]*)\/>/gi,
-
-	/* eslint-enable */
-
 	// Support: IE <=10 - 11, Edge 12 - 13 only
 	// In IE/Edge using regex groups here causes severe slowdowns.
 	// See https://connect.microsoft.com/IE/feedback/details/1736512/
@@ -5794,7 +5792,7 @@
 
 jQuery.extend( {
 	htmlPrefilter: function( html ) {
-		return html.replace( rxhtmlTag, "<$1></$2>" );
+		return html;
 	},
 
 	clone: function( elem, dataAndEvents, deepDataAndEvents ) {
diff --git a/_build/html/_static/underscore.js b/_build/html/_static/underscore.js
index 8219dc5..709ae8e 100644
--- a/_build/html/_static/underscore.js
+++ b/_build/html/_static/underscore.js
@@ -1550,6 +1550,13 @@
     return '\\' + escapes[match];
   };
 
+  // In order to prevent third-party code injection through
+  // `_.templateSettings.variable`, we test it against the following regular
+  // expression. It is intentionally a bit more liberal than just matching valid
+  // identifiers, but still prevents possible loopholes through defaults or
+  // destructuring assignment.
+  var bareIdentifier = /^\s*(\w|\$)+\s*$/;
+
   // JavaScript micro-templating, similar to John Resig's implementation.
   // Underscore templating handles arbitrary delimiters, preserves whitespace,
   // and correctly escapes quotes within interpolated code.
@@ -1585,8 +1592,17 @@
     });
     source += "';\n";
 
-    // If a variable is not specified, place data values in local scope.
-    if (!settings.variable) source = 'with(obj||{}){\n' + source + '}\n';
+    var argument = settings.variable;
+    if (argument) {
+      // Insure against third-party code injection.
+      if (!bareIdentifier.test(argument)) throw new Error(
+        'variable is not a bare identifier: ' + argument
+      );
+    } else {
+      // If a variable is not specified, place data values in local scope.
+      source = 'with(obj||{}){\n' + source + '}\n';
+      argument = 'obj';
+    }
 
     source = "var __t,__p='',__j=Array.prototype.join," +
       "print=function(){__p+=__j.call(arguments,'');};\n" +
@@ -1594,7 +1610,7 @@
 
     var render;
     try {
-      render = new Function(settings.variable || 'obj', '_', source);
+      render = new Function(argument, '_', source);
     } catch (e) {
       e.source = source;
       throw e;
@@ -1605,7 +1621,6 @@
     };
 
     // Provide the compiled source as a convenience for precompilation.
-    var argument = settings.variable || 'obj';
     template.source = 'function(' + argument + '){\n' + source + '}';
 
     return template;
diff --git a/_build/html/faq.html b/_build/html/faq.html
new file mode 100644
index 0000000..b6b66f6
--- /dev/null
+++ b/_build/html/faq.html
@@ -0,0 +1,243 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html4" lang="ja" >
+<head>
+  <meta charset="utf-8" />
+  
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  
+  <title>Frequently-Asked Questions （FAQ: よくある質問） &mdash; IoT Programming  ドキュメント</title>
+  
+
+  
+  <link rel="stylesheet" href="_static/css/theme.css" type="text/css" />
+  <link rel="stylesheet" href="_static/pygments.css" type="text/css" />
+  <link rel="stylesheet" href="_static/copybutton.css" type="text/css" />
+
+  
+  
+
+  
+  
+
+  
+
+  
+  <!--[if lt IE 9]>
+    <script src="_static/js/html5shiv.min.js"></script>
+  <![endif]-->
+  
+    
+      <script type="text/javascript" id="documentation_options" data-url_root="./" src="_static/documentation_options.js"></script>
+        <script type="text/javascript" src="_static/jquery.js"></script>
+        <script type="text/javascript" src="_static/underscore.js"></script>
+        <script type="text/javascript" src="_static/doctools.js"></script>
+        <script type="text/javascript" src="_static/language_data.js"></script>
+        <script type="text/javascript" src="_static/clipboard.min.js"></script>
+        <script type="text/javascript" src="_static/copybutton.js"></script>
+        <script type="text/javascript" src="_static/translations.js"></script>
+    
+    <script type="text/javascript" src="_static/js/theme.js"></script>
+
+    
+    <link rel="index" title="索引" href="genindex.html" />
+    <link rel="search" title="検索" href="search.html" />
+    <link rel="prev" title="2週目" href="week2.html" /> 
+</head>
+
+<body class="wy-body-for-nav">
+
+   
+  <div class="wy-grid-for-nav">
+    
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
+          
+
+          
+            <a href="index.html" class="icon icon-home"> IoT Programming
+          
+
+          
+          </a>
+
+          
+            
+            
+          
+
+          
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+
+          
+        </div>
+
+        
+        <div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="main navigation">
+          
+            
+            
+              
+            
+            
+              <p class="caption"><span class="caption-text">Contents:</span></p>
+<ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="intro.html">実験の目的</a></li>
+<li class="toctree-l1"><a class="reference internal" href="intro.html#id2">実験のすすめかた</a></li>
+<li class="toctree-l1"><a class="reference internal" href="intro.html#url">参考URL</a></li>
+<li class="toctree-l1"><a class="reference internal" href="pre.html">事前準備</a></li>
+<li class="toctree-l1"><a class="reference internal" href="week1.html">1週目</a></li>
+<li class="toctree-l1"><a class="reference internal" href="week2.html">2週目</a></li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Frequently-Asked Questions （FAQ: よくある質問）</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="#id1">電源がはいらない</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#id2">プログラムの書き込みができない</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#id3">再起動を繰り返す</a></li>
+</ul>
+</li>
+</ul>
+
+            
+          
+        </div>
+        
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap">
+
+      
+      <nav class="wy-nav-top" aria-label="top navigation">
+        
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="index.html">IoT Programming</a>
+        
+      </nav>
+
+
+      <div class="wy-nav-content">
+        
+        <div class="rst-content">
+        
+          
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+<div role="navigation" aria-label="breadcrumbs navigation">
+
+  <ul class="wy-breadcrumbs">
+    
+      <li><a href="index.html" class="icon icon-home"></a> &raquo;</li>
+        
+      <li>Frequently-Asked Questions （FAQ: よくある質問）</li>
+    
+    
+      <li class="wy-breadcrumbs-aside">
+        
+          
+            <a href="_sources/faq.rst.txt" rel="nofollow"> View page source</a>
+          
+        
+      </li>
+    
+  </ul>
+
+  
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+            
+  <div class="section" id="frequently-asked-questions-faq">
+<h1>Frequently-Asked Questions （FAQ: よくある質問）<a class="headerlink" href="#frequently-asked-questions-faq" title="このヘッドラインへのパーマリンク">¶</a></h1>
+<div class="section" id="id1">
+<h2>電源がはいらない<a class="headerlink" href="#id1" title="このヘッドラインへのパーマリンク">¶</a></h2>
+<ul class="simple">
+<li>充電が不十分である可能性があります。ケーブルを接続してしばらく充電してみましょう。</li>
+<li>シリアルポートが認識されていれば、適当なプログラム（画面表示するほうがわかりやすい）を書き込んでみましょう。</li>
+</ul>
+</div>
+<div class="section" id="id2">
+<h2>プログラムの書き込みができない<a class="headerlink" href="#id2" title="このヘッドラインへのパーマリンク">¶</a></h2>
+<ul class="simple">
+<li>USB-TypeCの向き(!!)をかえてみましょう。改善する場合があります。</li>
+</ul>
+</div>
+<div class="section" id="id3">
+<h2>再起動を繰り返す<a class="headerlink" href="#id3" title="このヘッドラインへのパーマリンク">¶</a></h2>
+<ul class="simple">
+<li>タスク化した関数を抜ける(終了する)ときに、自タスクを終了していない可能性があります。</li>
+<li>その他、タスクに割り当てるメモリが足りない場合など、メモリ使用の不具合も、再起動を引き起こすことがあります。</li>
+</ul>
+</div>
+</div>
+
+
+           </div>
+           
+          </div>
+          <footer>
+    <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+        <a href="week2.html" class="btn btn-neutral float-left" title="2週目" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+    </div>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>
+        &#169; Copyright 2021, Motoki Miura.
+
+    </p>
+  </div>
+    
+    
+    
+    Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    
+    provided by <a href="https://readthedocs.org">Read the Docs</a>. 
+
+</footer>
+        </div>
+      </div>
+
+    </section>
+
+  </div>
+  
+
+  <script type="text/javascript">
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script>
+
+  
+  
+    
+   
+
+</body>
+</html>
\ No newline at end of file
diff --git a/_build/html/genindex.html b/_build/html/genindex.html
index 9fbda48..e4be919 100644
--- a/_build/html/genindex.html
+++ b/_build/html/genindex.html
@@ -96,6 +96,7 @@
 <li class="toctree-l1"><a class="reference internal" href="pre.html">事前準備</a></li>
 <li class="toctree-l1"><a class="reference internal" href="week1.html">1週目</a></li>
 <li class="toctree-l1"><a class="reference internal" href="week2.html">2週目</a></li>
+<li class="toctree-l1"><a class="reference internal" href="faq.html">Frequently-Asked Questions （FAQ: よくある質問）</a></li>
 </ul>
 
             
diff --git a/_build/html/index.html b/_build/html/index.html
index 2ffdab8..7106786 100644
--- a/_build/html/index.html
+++ b/_build/html/index.html
@@ -96,6 +96,7 @@
 <li class="toctree-l1"><a class="reference internal" href="pre.html">事前準備</a></li>
 <li class="toctree-l1"><a class="reference internal" href="week1.html">1週目</a></li>
 <li class="toctree-l1"><a class="reference internal" href="week2.html">2週目</a></li>
+<li class="toctree-l1"><a class="reference internal" href="faq.html">Frequently-Asked Questions （FAQ: よくある質問）</a></li>
 </ul>
 
             
@@ -170,7 +171,7 @@
 <ul>
 <li class="toctree-l1"><a class="reference internal" href="intro.html">実験の目的</a></li>
 <li class="toctree-l1"><a class="reference internal" href="intro.html#id2">実験のすすめかた</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="intro.html#id3">評価基準</a></li>
+<li class="toctree-l2"><a class="reference internal" href="intro.html#id4">評価基準</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="intro.html#url">参考URL</a></li>
@@ -207,13 +208,20 @@
 <li class="toctree-l2"><a class="reference internal" href="week1.html#bluetooth">その他のBluetooth利用例</a></li>
 <li class="toctree-l2"><a class="reference internal" href="week1.html#preference">Preference</a></li>
 <li class="toctree-l2"><a class="reference internal" href="week1.html#id20">電源制御・電力制御</a></li>
-<li class="toctree-l2"><a class="reference internal" href="week1.html#id21">その他</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="week2.html">2週目</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="week2.html#id2">複数人で書いたプログラムを統合する</a></li>
 <li class="toctree-l2"><a class="reference internal" href="week2.html#id3">タスク</a></li>
 <li class="toctree-l2"><a class="reference internal" href="week2.html#id5">ミューテックスとセマフォ</a></li>
+<li class="toctree-l2"><a class="reference internal" href="week2.html#id6">キュー</a></li>
+<li class="toctree-l2"><a class="reference internal" href="week2.html#freertosrtos">FreeRTOSと、その他のRTOS</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="faq.html">Frequently-Asked Questions （FAQ: よくある質問）</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="faq.html#id1">電源がはいらない</a></li>
+<li class="toctree-l2"><a class="reference internal" href="faq.html#id2">プログラムの書き込みができない</a></li>
+<li class="toctree-l2"><a class="reference internal" href="faq.html#id3">再起動を繰り返す</a></li>
 </ul>
 </li>
 </ul>
diff --git a/_build/html/intro.html b/_build/html/intro.html
index ad44b67..fce46a9 100644
--- a/_build/html/intro.html
+++ b/_build/html/intro.html
@@ -93,13 +93,14 @@
 <ul class="current">
 <li class="toctree-l1 current"><a class="current reference internal" href="#">実験の目的</a></li>
 <li class="toctree-l1"><a class="reference internal" href="#id2">実験のすすめかた</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="#id3">評価基準</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#id4">評価基準</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="#url">参考URL</a></li>
 <li class="toctree-l1"><a class="reference internal" href="pre.html">事前準備</a></li>
 <li class="toctree-l1"><a class="reference internal" href="week1.html">1週目</a></li>
 <li class="toctree-l1"><a class="reference internal" href="week2.html">2週目</a></li>
+<li class="toctree-l1"><a class="reference internal" href="faq.html">Frequently-Asked Questions （FAQ: よくある質問）</a></li>
 </ul>
 
             
@@ -186,10 +187,11 @@
 <li>1週目の予習：M5StickCPlusの予備調査、開発環境の構築</li>
 <li>1週目： M5StickCPlus の基本的な使用法と、機能の確認、グループで完成させる「システム」や「作品」についての話し合い、調査・開発の分担</li>
 <li>1週目〜2週目の期間：分担した調査・開発をすすめ、記録を残す。部分的な統合試験を行う。</li>
-<li>2週目： 分担して構築した機能の統合と動作試験、レポートの執筆、発表会に向けた準備と、情報共有</li>
+<li>2週目： 分担して構築した機能の統合と動作試験、報告書(レポート)の執筆、発表会に向けた準備と、情報共有</li>
 </ul>
-<div class="section" id="id3">
-<h2>評価基準<a class="headerlink" href="#id3" title="このヘッドラインへのパーマリンク">¶</a></h2>
+<p><a class="reference external" href="https://docs.google.com/document/d/1NdvuHJ9wn09ZZ10xYCM-vMOOj3tjALfLL5VEKULvC6g/edit?usp=sharing">報告書の雛形</a> ←こちらをコピー＆班で共有し、班単位でまとめて執筆・提出していただきます。</p>
+<div class="section" id="id4">
+<h2>評価基準<a class="headerlink" href="#id4" title="このヘッドラインへのパーマリンク">¶</a></h2>
 <p>報告書（レポート）の評価基準を、以下に示す。</p>
 <ul class="simple">
 <li>成果物（「システム」や「作品」）の完成度、有用性</li>
@@ -209,9 +211,9 @@
 <div class="section" id="url">
 <h1>参考URL<a class="headerlink" href="#url" title="このヘッドラインへのパーマリンク">¶</a></h1>
 <ul class="simple">
-<li>M5StickC非公式日本語リファレンス &lt;<a class="reference external" href="https://lang-ship.com/reference/unofficial/M5StickC">https://lang-ship.com/reference/unofficial/M5StickC</a>&gt;&lt;/https:&gt;</li>
-<li>スイッチサイエンス M5StickC Plus &lt;<a class="reference external" href="https://www.switch-science.com/catalog/6470">https://www.switch-science.com/catalog/6470</a>&gt;</li>
-<li>M5StickCガイド&lt;<a class="reference external" href="https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/M5StickC_Guide_Japanese.pdf">https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/M5StickC_Guide_Japanese.pdf</a>&gt;</li>
+<li>M5StickC非公式日本語リファレンス <a class="reference external" href="https://lang-ship.com/reference/unofficial/M5StickC">https://lang-ship.com/reference/unofficial/M5StickC</a></li>
+<li>スイッチサイエンス M5StickC Plus <a class="reference external" href="https://www.switch-science.com/catalog/6470">https://www.switch-science.com/catalog/6470</a></li>
+<li>M5StickCガイド <a class="reference external" href="https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/M5StickC_Guide_Japanese.pdf">https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/M5StickC_Guide_Japanese.pdf</a></li>
 </ul>
 </div>
 
diff --git a/_build/html/objects.inv b/_build/html/objects.inv
index 61a11af..1d26a35 100644
--- a/_build/html/objects.inv
+++ b/_build/html/objects.inv
Binary files differ
diff --git a/_build/html/pre.html b/_build/html/pre.html
index cfc8fab..d6b09b7 100644
--- a/_build/html/pre.html
+++ b/_build/html/pre.html
@@ -116,6 +116,7 @@
 </li>
 <li class="toctree-l1"><a class="reference internal" href="week1.html">1週目</a></li>
 <li class="toctree-l1"><a class="reference internal" href="week2.html">2週目</a></li>
+<li class="toctree-l1"><a class="reference internal" href="faq.html">Frequently-Asked Questions （FAQ: よくある質問）</a></li>
 </ul>
 
             
@@ -186,7 +187,7 @@
   <div class="section" id="pre">
 <span id="id1"></span><h1>事前準備<a class="headerlink" href="#pre" title="このヘッドラインへのパーマリンク">¶</a></h1>
 <p>M5StickC Plus &lt;<a class="reference external" href="https://www.switch-science.com/catalog/6470">https://www.switch-science.com/catalog/6470</a>&gt; に、プログラムを書き込むためには、
-開発環境（Arduino）のインストールと、設定が必要になります。</p>
+開発環境（Arduino IDE）のインストールと、設定が必要になります。</p>
 <div class="admonition note">
 <p class="first admonition-title">注釈</p>
 <p class="last">M5StickC Plusは、2017年に発売されたM5StickC の後継版です。ディスプレイサイズと解像度、バッテリ容量が向上しています。また、ブザーも追加されているため、簡単な音を本体のみで鳴らすことができます。</p>
diff --git a/_build/html/search.html b/_build/html/search.html
index 29a89b4..55b1cac 100644
--- a/_build/html/search.html
+++ b/_build/html/search.html
@@ -98,6 +98,7 @@
 <li class="toctree-l1"><a class="reference internal" href="pre.html">事前準備</a></li>
 <li class="toctree-l1"><a class="reference internal" href="week1.html">1週目</a></li>
 <li class="toctree-l1"><a class="reference internal" href="week2.html">2週目</a></li>
+<li class="toctree-l1"><a class="reference internal" href="faq.html">Frequently-Asked Questions （FAQ: よくある質問）</a></li>
 </ul>
 
             
diff --git a/_build/html/searchindex.js b/_build/html/searchindex.js
index 75cf4c5..73514e1 100644
--- a/_build/html/searchindex.js
+++ b/_build/html/searchindex.js
@@ -1 +1 @@
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\ No newline at end of file
diff --git a/_build/html/week1.html b/_build/html/week1.html
index ac93b13..1056972 100644
--- a/_build/html/week1.html
+++ b/_build/html/week1.html
@@ -136,10 +136,10 @@
 <li class="toctree-l2"><a class="reference internal" href="#bluetooth">その他のBluetooth利用例</a></li>
 <li class="toctree-l2"><a class="reference internal" href="#preference">Preference</a></li>
 <li class="toctree-l2"><a class="reference internal" href="#id20">電源制御・電力制御</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#id21">その他</a></li>
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="week2.html">2週目</a></li>
+<li class="toctree-l1"><a class="reference internal" href="faq.html">Frequently-Asked Questions （FAQ: よくある質問）</a></li>
 </ul>
 
             
@@ -229,11 +229,11 @@
 <div class="section" id="id4">
 <h2>コードを書くときのヒントと注意<a class="headerlink" href="#id4" title="このヘッドラインへのパーマリンク">¶</a></h2>
 <ul class="simple">
-<li>以下のソースコード例は、右上のボタンを押すと、クリップボードに簡単にコピーできます。</li>
+<li>以下のソースコード例は、リストの右上の□ボタンを押すと、クリップボードに簡単にコピーできます。右上のボタンが表示されていないときは、右にスクロールしてください。</li>
 <li>ソースコードのインデントは、CTRL+T （Macの場合はCommand+T）キーで、自動整形できます。</li>
-<li><code class="docutils literal notranslate"><span class="pre">#include</span> <span class="pre">&lt;M5StickC.h&gt;</span></code>  は、M5StickC用のコードです。 <strong>M5StickCPlus</strong> では、<code class="docutils literal notranslate"><span class="pre">#include</span> <span class="pre">&lt;M5StickCPlus.h&gt;</span></code> に変更しないと、表示がおかしくなることがあります。</li>
+<li><code class="docutils literal notranslate"><span class="pre">#include</span> <span class="pre">&lt;M5StickC.h&gt;</span></code>  は、M5StickC用のヘッダファイル指定です。 <strong>M5StickCPlus</strong> では、画面解像度が異なるので、 <code class="docutils literal notranslate"><span class="pre">#include</span> <span class="pre">&lt;M5StickCPlus.h&gt;</span></code> に変更しないと、表示がおかしくなることがあります。</li>
 <li>大文字と小文字は厳密に区別されます。</li>
-<li>画面をつかうプログラムを書き込んだあと、画面を使わないプログラムを書き込むと、前のプログラムの画面が残ることがあります。</li>
+<li>画面(LCD)をつかうプログラムを書き込んだあと、画面を使わないプログラムを書き込むと、前のプログラムの画面が残ることがあります。</li>
 <li>スケッチブック（プログラムを構成する、複数のソースコードを含むファイル、他のIDEではプロジェクトと呼ぶ場合もある）をコピーしたいときは、内包するフォルダごとコピーしてください。その際、フォルダ名と、メインのソースコードファイル名（拡張子以外の部分）は、一致している必要があります。</li>
 </ul>
 </div>
@@ -413,6 +413,9 @@
 </pre></div>
 </td></tr></table></div>
 </div>
+<div class="figure">
+<a class="reference internal image-reference" href="_images/lcd_sample.png"><img alt="_images/lcd_sample.png" src="_images/lcd_sample.png" style="width: 437.0px; height: 275.0px;" /></a>
+</div>
 <p>画面の向きは、setRotation() 関数で、設定します。0〜3までの整数で、指定します。</p>
 <div class="figure">
 <a class="reference internal image-reference" href="_images/setRotation.gif"><img alt="_images/setRotation.gif" src="_images/setRotation.gif" style="width: 400.0px; height: 400.0px;" /></a>
@@ -717,7 +720,7 @@
 </div>
 <div class="section" id="led">
 <h2>内蔵LED（赤・赤外）<a class="headerlink" href="#led" title="このヘッドラインへのパーマリンク">¶</a></h2>
-<p>M5StickCPlusには、2つのLEDランプが内蔵されています。GPIO(General Purpose I/O)10 には、赤色LED、GPIO9 には、赤外LEDが接続されています。
+<p>M5StickCPlusには、2つのLEDランプが内蔵されています。GPIO(General Purpose Input/Output)の10番 には、赤色LED、GPIO9 には、赤外LEDが接続されています。
 場所は、USBケーブルを挿す面の反対側の面にある、小さな穴2つの内側です。</p>
 <p><a class="reference internal" href="#led01"><span class="std std-numref">リスト 7</span></a> は、赤色LEDを点滅させるシンプルなプログラムです。</p>
 <div class="literal-block-wrapper docutils container" id="led01">
@@ -831,6 +834,9 @@
 <div class="section" id="id10">
 <h2>サーボモータ（サーボハット利用）<a class="headerlink" href="#id10" title="このヘッドラインへのパーマリンク">¶</a></h2>
 <p><a class="reference internal" href="#servohat01"><span class="std std-numref">リスト 9</span></a> は、<a class="reference external" href="https://www.switch-science.com/catalog/6076">サーボハット</a> のサーボモータを動かすサンプルです。サーボモータの制御はPWMですので、基本的に、上のPWMとやっていることは同じです。おまけとして、LEDも点灯させました。<code class="docutils literal notranslate"><span class="pre">map関数</span></code> は、Arduinoで使える関数で、範囲に対応する値を変換するときに使います。ここでは、サーボ制御で用いる5〜33の値を、LED制御の値0〜256に変換しています。</p>
+<div class="figure">
+<a class="reference internal image-reference" href="_images/servohat.png"><img alt="_images/servohat.png" src="_images/servohat.png" style="width: 606.1999999999999px; height: 229.6px;" /></a>
+</div>
 <div class="literal-block-wrapper docutils container" id="servohat01">
 <div class="code-block-caption"><span class="caption-number">リスト 9 </span><span class="caption-text">src/servohat01.ino</span><a class="headerlink" href="#servohat01" title="このコードへのパーマリンク">¶</a></div>
 <div class="highlight-arduino notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
@@ -988,14 +994,14 @@
 <span class="kr">void</span> <span class="nb">setup</span><span class="p">()</span> <span class="p">{</span>
   <span class="n">M5</span><span class="p">.</span><span class="nf">begin</span><span class="p">();</span>
   <span class="n">M5</span><span class="p">.</span><span class="n">Lcd</span><span class="p">.</span><span class="n">setRotation</span><span class="p">(</span><span class="mi">3</span><span class="p">);</span>
-  <span class="n">M5</span><span class="p">.</span><span class="n">IMU</span><span class="p">.</span><span class="n">Init</span><span class="p">();</span>
-  <span class="nf">Serial</span><span class="p">.</span><span class="nf">begin</span><span class="p">(</span><span class="mi">115200</span><span class="p">);</span>
+<span class="hll">  <span class="n">M5</span><span class="p">.</span><span class="n">IMU</span><span class="p">.</span><span class="n">Init</span><span class="p">();</span>
+</span>  <span class="nf">Serial</span><span class="p">.</span><span class="nf">begin</span><span class="p">(</span><span class="mi">115200</span><span class="p">);</span>
   <span class="nf">Serial</span><span class="p">.</span><span class="nf">println</span><span class="p">(</span><span class="s">&quot;&quot;</span><span class="p">);</span>
 <span class="p">}</span>
 <span class="kr">void</span> <span class="nb">loop</span><span class="p">()</span> <span class="p">{</span>
-  <span class="n">M5</span><span class="p">.</span><span class="n">IMU</span><span class="p">.</span><span class="n">getGyroData</span><span class="p">(</span><span class="o">&amp;</span><span class="n">gyroX</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">gyroY</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">gyroZ</span><span class="p">);</span>
-  <span class="n">M5</span><span class="p">.</span><span class="n">IMU</span><span class="p">.</span><span class="n">getAccelData</span><span class="p">(</span><span class="o">&amp;</span><span class="n">ax</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">ay</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">az</span><span class="p">);</span>
-  <span class="n">M5</span><span class="p">.</span><span class="n">Lcd</span><span class="p">.</span><span class="nf">setCursor</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="mi">2</span><span class="p">);</span>
+<span class="hll">  <span class="n">M5</span><span class="p">.</span><span class="n">IMU</span><span class="p">.</span><span class="n">getGyroData</span><span class="p">(</span><span class="o">&amp;</span><span class="n">gyroX</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">gyroY</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">gyroZ</span><span class="p">);</span>
+</span><span class="hll">  <span class="n">M5</span><span class="p">.</span><span class="n">IMU</span><span class="p">.</span><span class="n">getAccelData</span><span class="p">(</span><span class="o">&amp;</span><span class="n">ax</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">ay</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">az</span><span class="p">);</span>
+</span>  <span class="n">M5</span><span class="p">.</span><span class="n">Lcd</span><span class="p">.</span><span class="nf">setCursor</span><span class="p">(</span><span class="mi">0</span><span class="p">,</span> <span class="mi">10</span><span class="p">,</span> <span class="mi">2</span><span class="p">);</span>
 
   <span class="n">M5</span><span class="p">.</span><span class="n">Lcd</span><span class="p">.</span><span class="n">printf</span><span class="p">(</span><span class="s">&quot;aX :%7.2f  </span><span class="se">\n</span><span class="s">aY :%7.2f  </span><span class="se">\n</span><span class="s">aZ :%7.2f mg  </span><span class="se">\n\n</span><span class="s">&quot;</span><span class="p">,</span> <span class="n">ax</span> <span class="p">,</span> <span class="n">ay</span> <span class="p">,</span> <span class="n">az</span> <span class="p">);</span>
   <span class="nf">Serial</span><span class="p">.</span><span class="n">printf</span><span class="p">(</span><span class="s">&quot;%7.2f , %7.2f , %7.2f </span><span class="se">\n</span><span class="s">&quot;</span><span class="p">,</span> <span class="n">ax</span> <span class="p">,</span> <span class="n">ay</span> <span class="p">,</span> <span class="n">az</span><span class="p">);</span> <span class="c1">//シリアルプロッタ用の出力</span>
@@ -1030,7 +1036,7 @@
 <div class="section" id="id15">
 <h3>信号の送信<a class="headerlink" href="#id15" title="このヘッドラインへのパーマリンク">¶</a></h3>
 <p>内蔵の赤外LEDを用いて、信号を送信する例を <a class="reference internal" href="#irsend01"><span class="std std-numref">リスト 12</span></a> に示します。
-内蔵の赤外LED光はあまり強くないため、50cm程度まで近づかないと反応しない場合があります。
+内蔵の赤外LED光はあまり強くないため、50cm程度まで近づかないと反応しない場合があります。また、太陽光の影響を強く受けます。
 単体の赤外LEDを接続して用いると、距離を伸ばすことができます。</p>
 <p>なお、NECフォーマットではない赤外線リモコンの通信フォーマットについては、 <a class="reference external" href="http://elm-chan.org/docs/ir_format.html">赤外線リモコンの通信フォーマット</a> や、スケッチ例を参考にしてください。</p>
 <div class="literal-block-wrapper docutils container" id="irsend01">
@@ -1238,7 +1244,7 @@
 ちなみに、<code class="docutils literal notranslate"><span class="pre">WiFiMulti</span></code> は、複数のアクセスポイントに対して、Wifi接続を試みることができる機能（クラス）です。ただし、最終的に繋がるのは1つのアクセスポイントになります。</p>
 <div class="admonition note">
 <p class="first admonition-title">注釈</p>
-<p class="last">Telnet接続を切断するときは、まずControlキーをおしながら <code class="docutils literal notranslate"><span class="pre">]</span></code> をおしてください。プロンプトが <code class="docutils literal notranslate"><span class="pre">telnet&gt;</span></code> と表示されますので、<code class="docutils literal notranslate"><span class="pre">quit</span></code> と打ち込むと終了します。 <code class="docutils literal notranslate"><span class="pre">Escape</span> <span class="pre">character</span> <span class="pre">is</span> <span class="pre">'^]'.</span></code> の <code class="docutils literal notranslate"><span class="pre">^</span></code> は、Controlキーのことです。</p>
+<p class="last">Telnet接続を切断するときは、まずControlキーをおしながら <code class="docutils literal notranslate"><span class="pre">]</span></code> をおしてください。プロンプトに <code class="docutils literal notranslate"><span class="pre">telnet&gt;</span></code> と表示されますので、<code class="docutils literal notranslate"><span class="pre">quit</span></code> と打ち込むと終了します。 <code class="docutils literal notranslate"><span class="pre">Escape</span> <span class="pre">character</span> <span class="pre">is</span> <span class="pre">'^]'.</span></code> の <code class="docutils literal notranslate"><span class="pre">^</span></code> は、Controlキーのことです。</p>
 </div>
 <div class="literal-block-wrapper docutils container" id="telnet01">
 <div class="code-block-caption"><span class="caption-number">リスト 15 </span><span class="caption-text">src/telnet01.ino</span><a class="headerlink" href="#telnet01" title="このコードへのパーマリンク">¶</a></div>
@@ -1753,7 +1759,7 @@
 31
 32
 33</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf">&lt;WiFi.h&gt;</span><span class="cp"></span>
-<span class="cp">#include</span> <span class="cpf">&lt;HTTPClient.h&gt;</span><span class="cp"></span>
+<span class="cp">#include</span> <span class="cpf">&lt;HTTPClient.h&gt; // ステータスコードの定義もここにある</span><span class="cp"></span>
 
 <span class="kr">const</span> <span class="kr">char</span><span class="o">*</span> <span class="n">ssid</span> <span class="o">=</span> <span class="s">&quot;**********&quot;</span><span class="p">;</span>
 <span class="kr">const</span> <span class="kr">char</span><span class="o">*</span> <span class="n">password</span> <span class="o">=</span> <span class="s">&quot;**********&quot;</span><span class="p">;</span>
@@ -1770,12 +1776,12 @@
   <span class="p">}</span>
   <span class="nf">delay</span><span class="p">(</span><span class="mi">1000</span><span class="p">);</span>
   
-  <span class="n">HTTPClient</span> <span class="n">http</span><span class="p">;</span>
-  <span class="n">http</span><span class="p">.</span><span class="nf">begin</span><span class="p">(</span><span class="n">weatherapi_url</span><span class="p">);</span> <span class="c1">//HTTPでサーバに接続</span>
-  <span class="kr">int</span> <span class="n">httpCode</span> <span class="o">=</span> <span class="n">http</span><span class="p">.</span><span class="n">GET</span><span class="p">();</span>
+  <span class="n">HTTPClient</span> <span class="n">http</span><span class="p">;</span>            <span class="c1">// クライアント作成</span>
+  <span class="n">http</span><span class="p">.</span><span class="nf">begin</span><span class="p">(</span><span class="n">weatherapi_url</span><span class="p">);</span> <span class="c1">// HTTPでサーバに接続</span>
+  <span class="kr">int</span> <span class="n">httpCode</span> <span class="o">=</span> <span class="n">http</span><span class="p">.</span><span class="n">GET</span><span class="p">();</span>  <span class="c1">// ステータスコードを取得</span>
   <span class="k">if</span> <span class="p">(</span><span class="n">httpCode</span> <span class="o">&gt;</span> <span class="mi">0</span><span class="p">)</span> <span class="p">{</span>
       <span class="nf">Serial</span><span class="p">.</span><span class="nf">println</span><span class="p">(</span><span class="n">httpCode</span><span class="p">);</span>
-    <span class="k">if</span> <span class="p">(</span><span class="n">httpCode</span> <span class="o">==</span> <span class="n">HTTP_CODE_OK</span><span class="p">)</span> <span class="p">{</span>
+    <span class="k">if</span> <span class="p">(</span><span class="n">httpCode</span> <span class="o">==</span> <span class="n">HTTP_CODE_OK</span><span class="p">)</span> <span class="p">{</span> <span class="c1">// ステータスコードが「成功」(200) なら</span>
       <span class="kr">String</span> <span class="n">payload</span> <span class="o">=</span> <span class="n">http</span><span class="p">.</span><span class="n">getString</span><span class="p">();</span>
       <span class="nf">Serial</span><span class="p">.</span><span class="nf">println</span><span class="p">(</span><span class="n">payload</span><span class="p">);</span>
     <span class="p">}</span>
@@ -1799,7 +1805,7 @@
 <p>Google Apps Scriptを用いると、HTTP通信で Google Spreadsheet にデータを書き込んだり、読み取ったりするWebサービスを作成し、WebAPIとして公開することができます。</p>
 <p>(Google Spreadsheetのメニューで) 拡張機能→Apps Script または、ツール→スクリプトエディタ で、<a class="reference internal" href="#doget"><span class="std std-numref">リスト 19</span></a> を「コード.gs」に書き込みます。15行目で「シート1」の一番下の行に、配列array の要素を追加します。19行目のgetRange(1,3).getValue()は、スプレッドシートのC1（3列1行）の値を取得しています。ここに「=average(C2:C200)」のようにしておくと、データの平均値を取得することもできます。</p>
 <p>作成した「コード.gs」について、「公開」→「ウェブアプリケーションとして導入...」で、Webアプリとして公開できます。（なお、「新しいエディタ」では表示が異なるため、できない可能性があります。）</p>
-<p>作成できたかどうかをパソコンから確認するには、コマンドラインから、以下のように入力します（ただし、curlが必要です。val1=10 と val2=20 のあいだは＆記号ですので、シェルでバックグラウンド処理されないように、URLをシングルクォートで囲っています）</p>
+<p>作成できたかどうかをパソコンから確認するには、コマンドラインから、以下のように入力します（ただし、curlが必要です。val1=10 と val2=20 のあいだは＆記号ですので、シェルでバックグラウンド処理されないように、URLをシングルクォートで囲っています。-L (--location)は、リダイレクト先にリクエストを発行するcurlのオプションです。）</p>
 <div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">curl</span> <span class="o">-</span><span class="n">L</span>  <span class="s1">&#39;https://script.google.com/macros/s/XxXxXxXxXx/exec?val1=10&amp;val2=20&#39;</span>
 </pre></div>
 </div>
@@ -1849,10 +1855,14 @@
 </pre></div>
 </td></tr></table></div>
 </div>
+<div class="admonition warning">
+<p class="first admonition-title">警告</p>
+<p class="last">doGet関数の返却値は、本来はHTTPのレスポンスとして受け取れるのですが、現状の <code class="docutils literal notranslate"><span class="pre">HTTPClient</span></code> ではリダイレクトをうまく処理できないため、Google App Scriptの出力を受け取れない可能性があります。</p>
+</div>
 </div>
 <div class="section" id="webserver">
 <h2>WebServer<a class="headerlink" href="#webserver" title="このヘッドラインへのパーマリンク">¶</a></h2>
-<p>すこし長いですが、<a class="reference internal" href="#httpserver01"><span class="std std-numref">リスト 20</span></a> は、80番ポートでHTTPでの通信を待ち受け(listenし)て、クライアントからの接続情報（ヘッダ情報）を返すWebサーバのシンプルな例です。クライアント（ブラウザ）からのリクエスト行のうち、 <code class="docutils literal notranslate"><span class="pre">GET</span></code> または <code class="docutils literal notranslate"><span class="pre">POST</span></code> ではじまる行があれば、変数 <code class="docutils literal notranslate"><span class="pre">meth</span></code> に格納します。つまり、変数 <code class="docutils literal notranslate"><span class="pre">meth</span></code> には、ブラウザで発行したリクエストのURLが含まれることになります。POSTメソッドで送信されていれば、リクエストボディに記述されたデータを変数 <code class="docutils literal notranslate"><span class="pre">post</span></code> に格納します。 クライアント（ブラウザ）に返す「レスポンス」は、 <code class="docutils literal notranslate"><span class="pre">client.println()</span></code> で送信します。最後に、<code class="docutils literal notranslate"><span class="pre">client.stop()</span></code> で、サーバ側から接続を切断します。</p>
+<p>すこし長いですが、<a class="reference internal" href="#httpserver01"><span class="std std-numref">リスト 20</span></a> は、80番ポートでHTTPでの通信を待ち受け(listenし)て、クライアントからの接続情報（ヘッダ情報）を返すWebサーバのシンプルな例です。クライアント（ブラウザ）からのリクエスト行のうち、 <code class="docutils literal notranslate"><span class="pre">GET</span></code> または <code class="docutils literal notranslate"><span class="pre">POST</span></code> ではじまる行があれば、変数 <code class="docutils literal notranslate"><span class="pre">meth</span></code> に格納します。つまり、変数 <code class="docutils literal notranslate"><span class="pre">meth</span></code> には、ブラウザで発行したリクエストのURLが含まれることになります。（methはmethodの略。）POSTメソッドで送信されていれば、リクエストボディに記述されたデータを変数 <code class="docutils literal notranslate"><span class="pre">post</span></code> に格納します。 クライアント（ブラウザ）に返す「レスポンス」は、 <code class="docutils literal notranslate"><span class="pre">client.println()</span></code> で送信します。最後に、<code class="docutils literal notranslate"><span class="pre">client.stop()</span></code> で、サーバ側から接続を切断します。</p>
 <div class="literal-block-wrapper docutils container" id="httpserver01">
 <div class="code-block-caption"><span class="caption-number">リスト 20 </span><span class="caption-text">src/httpserver01.ino</span><a class="headerlink" href="#httpserver01" title="このコードへのパーマリンク">¶</a></div>
 <div class="highlight-arduino notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
@@ -2026,7 +2036,7 @@
 </td></tr></table></div>
 </div>
 <p>センサデータを返すだけなら問題ありませんが、クライアントからのデータを GET / POST で受信して処理する場合は、 <code class="docutils literal notranslate"><span class="pre">key1=val1&amp;key2=val2</span></code> のような文字列を要素に分解する必要がでてきます。あまり深入りしませんが、正規表現で文字列を照合・抽出する <code class="docutils literal notranslate"><span class="pre">Regexp</span></code> や、抽出した結果をハッシュ/辞書として保存する <code class="docutils literal notranslate"><span class="pre">Dictionary</span></code> ライブラリを導入すると、複雑なリクエストやデータを扱いやすくなるでしょう。
-<a class="reference internal" href="#regexp01"><span class="std std-numref">リスト 21</span></a> に、RGBの色指定文字列などのリクエスト文字列をパースして辞書に追加するプログラムの断片を示します。<strong>注意：このプログラムは、単体では動作しません</strong></p>
+<a class="reference internal" href="#regexp01"><span class="std std-numref">リスト 21</span></a> に、RGBの色指定文字列などのリクエスト文字列をパースして辞書に追加するプログラムの断片を示します。<strong>注意：このプログラム（</strong> <a class="reference internal" href="#regexp01"><span class="std std-numref">リスト 21</span></a> <strong>）は、単体では動作しません</strong></p>
 <div class="literal-block-wrapper docutils container" id="regexp01">
 <div class="code-block-caption"><span class="caption-number">リスト 21 </span><span class="caption-text">src/regexp01.ino</span><a class="headerlink" href="#regexp01" title="このコードへのパーマリンク">¶</a></div>
 <div class="highlight-arduino notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
@@ -2927,16 +2937,6 @@
 </td></tr></table></div>
 </div>
 </div>
-<div class="section" id="id21">
-<h2>その他<a class="headerlink" href="#id21" title="このヘッドラインへのパーマリンク">¶</a></h2>
-<ul class="simple">
-<li>CO2 (CCS811)</li>
-<li>RCS-620S (Felica)</li>
-<li>JJYClock</li>
-<li>RTC(BM8563)</li>
-<li>OTA</li>
-</ul>
-</div>
 </div>
 
 
diff --git a/_build/html/week2.html b/_build/html/week2.html
index f60d926..dca55f6 100644
--- a/_build/html/week2.html
+++ b/_build/html/week2.html
@@ -43,6 +43,7 @@
     
     <link rel="index" title="索引" href="genindex.html" />
     <link rel="search" title="検索" href="search.html" />
+    <link rel="next" title="Frequently-Asked Questions （FAQ: よくある質問）" href="faq.html" />
     <link rel="prev" title="1週目" href="week1.html" /> 
 </head>
 
@@ -99,8 +100,11 @@
 <li class="toctree-l2"><a class="reference internal" href="#id2">複数人で書いたプログラムを統合する</a></li>
 <li class="toctree-l2"><a class="reference internal" href="#id3">タスク</a></li>
 <li class="toctree-l2"><a class="reference internal" href="#id5">ミューテックスとセマフォ</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#id6">キュー</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#freertosrtos">FreeRTOSと、その他のRTOS</a></li>
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="faq.html">Frequently-Asked Questions （FAQ: よくある質問）</a></li>
 </ul>
 
             
@@ -187,7 +191,7 @@
 <p>複数の機能を1つの <code class="docutils literal notranslate"><span class="pre">loop()</span></code> にまとめようとすると、プログラムが複雑になります。タスクを用いると、 <code class="docutils literal notranslate"><span class="pre">loop()</span></code> に相当する関数を複数定義し、並列に動作させることができます。</p>
 <p><a class="reference internal" href="#task01"><span class="std std-numref">リスト 27</span></a> に、タスクを利用する例を示します。3つの異なるタスクを作成し、それぞれの関数内部で <code class="docutils literal notranslate"><span class="pre">setup()</span></code> と <code class="docutils literal notranslate"><span class="pre">loop()</span></code> に相当する処理を記述しています。
 引数の詳細については、<a class="reference external" href="https://lang-ship.com/reference/unofficial/M5StickC/Functions/freertos/task">非公式日本語リファレンス</a> を参照してください。
-ここの例では、1つのファイルに記述していますが、タスクごとに別のファイルにすることもできます。 例では使用していませんが、 <code class="docutils literal notranslate"><span class="pre">TaskHandle_t</span></code> は、タスクの一時停止（サスペンド）や、再開（レジューム）、削除のときに利用します。</p>
+ここの例では、1つのファイルに記述していますが、タスクごとに別のファイルにすることもできます。 以下の例ではタスク生成時に、タスクハンドル <code class="docutils literal notranslate"><span class="pre">TaskHandle_t</span></code> を設定しています。タスクハンドルは、タスクの一時停止（サスペンド）や、再開（レジューム）、削除のときにタスクを特定するために必要となります。</p>
 <div class="literal-block-wrapper docutils container" id="task01">
 <div class="code-block-caption"><span class="caption-number">リスト 27 </span><span class="caption-text">src/task01.ino</span><a class="headerlink" href="#task01" title="このコードへのパーマリンク">¶</a></div>
 <div class="highlight-arduino notranslate"><table class="highlighttable"><tr><td class="linenos"><div class="linenodiv"><pre> 1
@@ -262,8 +266,8 @@
 70</pre></div></td><td class="code"><div class="highlight"><pre><span></span><span class="cp">#include</span> <span class="cpf">&lt;M5StickCPlus.h&gt;</span><span class="cp"></span>
 
 <span class="kr">int</span> <span class="n">interval_msec</span><span class="p">[]</span> <span class="o">=</span> <span class="p">{</span> <span class="mi">333</span><span class="p">,</span> <span class="mi">1000</span><span class="p">,</span> <span class="mi">2000</span> <span class="p">};</span> <span class="c1">// Led, Lcd, Beep</span>
-<span class="n">TaskHandle_t</span> <span class="n">tH</span><span class="p">[</span><span class="mi">3</span><span class="p">];</span>
-
+<span class="hll"><span class="n">TaskHandle_t</span> <span class="n">tH</span><span class="p">[</span><span class="mi">3</span><span class="p">];</span>
+</span>
 <span class="kr">void</span> <span class="nf">ledTask</span><span class="p">(</span><span class="kr">void</span> <span class="o">*</span><span class="n">pvParam</span><span class="p">)</span> <span class="p">{</span>
   <span class="cm">/** setup をここに書く **/</span>
   <span class="n">portTickType</span> <span class="n">lastTime</span><span class="p">;</span>
@@ -321,10 +325,10 @@
 <span class="kr">void</span> <span class="nb">setup</span><span class="p">()</span> <span class="p">{</span>
   <span class="n">M5</span><span class="p">.</span><span class="nf">begin</span><span class="p">();</span>
 
-  <span class="n">xTaskCreatePinnedToCore</span><span class="p">(</span><span class="n">ledTask</span> <span class="p">,</span> <span class="s">&quot;LedT&quot;</span><span class="p">,</span> <span class="mi">4096</span><span class="p">,</span> <span class="nb">NULL</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">tH</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span>  <span class="mi">1</span><span class="cm">/*&lt;= CoreNo.*/</span> <span class="p">);</span>
-  <span class="n">xTaskCreatePinnedToCore</span><span class="p">(</span><span class="n">lcdTask</span> <span class="p">,</span> <span class="s">&quot;LcdT&quot;</span><span class="p">,</span> <span class="mi">4096</span><span class="p">,</span> <span class="nb">NULL</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">tH</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span>  <span class="mi">1</span><span class="cm">/*&lt;= CoreNo.*/</span> <span class="p">);</span>
-  <span class="n">xTaskCreatePinnedToCore</span><span class="p">(</span><span class="n">beepTask</span><span class="p">,</span><span class="s">&quot;BeepT&quot;</span><span class="p">,</span> <span class="mi">4096</span><span class="p">,</span> <span class="nb">NULL</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">tH</span><span class="p">[</span><span class="mi">2</span><span class="p">],</span>  <span class="mi">0</span><span class="cm">/*&lt;= CoreNo.*/</span> <span class="p">);</span>
-<span class="p">}</span>
+<span class="hll">  <span class="n">xTaskCreatePinnedToCore</span><span class="p">(</span><span class="n">ledTask</span> <span class="p">,</span> <span class="s">&quot;LedT&quot;</span><span class="p">,</span> <span class="mi">4096</span><span class="p">,</span> <span class="nb">NULL</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">tH</span><span class="p">[</span><span class="mi">0</span><span class="p">],</span>  <span class="mi">1</span><span class="cm">/*&lt;= CoreNo.*/</span> <span class="p">);</span>
+</span><span class="hll">  <span class="n">xTaskCreatePinnedToCore</span><span class="p">(</span><span class="n">lcdTask</span> <span class="p">,</span> <span class="s">&quot;LcdT&quot;</span><span class="p">,</span> <span class="mi">4096</span><span class="p">,</span> <span class="nb">NULL</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">tH</span><span class="p">[</span><span class="mi">1</span><span class="p">],</span>  <span class="mi">1</span><span class="cm">/*&lt;= CoreNo.*/</span> <span class="p">);</span>
+</span><span class="hll">  <span class="n">xTaskCreatePinnedToCore</span><span class="p">(</span><span class="n">beepTask</span><span class="p">,</span><span class="s">&quot;BeepT&quot;</span><span class="p">,</span> <span class="mi">4096</span><span class="p">,</span> <span class="nb">NULL</span><span class="p">,</span> <span class="mi">1</span><span class="p">,</span> <span class="o">&amp;</span><span class="n">tH</span><span class="p">[</span><span class="mi">2</span><span class="p">],</span>  <span class="mi">0</span><span class="cm">/*&lt;= CoreNo.*/</span> <span class="p">);</span>
+</span><span class="p">}</span>
 
 <span class="kr">void</span> <span class="nb">loop</span><span class="p">()</span> <span class="p">{</span>
   <span class="nf">delay</span><span class="p">(</span><span class="mi">10</span><span class="p">);</span>
@@ -438,19 +442,39 @@
 </div>
 <div class="section" id="id5">
 <h2>ミューテックスとセマフォ<a class="headerlink" href="#id5" title="このヘッドラインへのパーマリンク">¶</a></h2>
-<p>複数のタスクを並列動作させると、リソースに同時アクセスすることで意図しない動作を引き起こすことがあります。
-ミューテックスを用いると、リソースに同時にアクセスできるタスクを限定することができます。これを「排他制御」と呼びます。</p>
-<p>バイナリセマフォは、タスク間またはタスクと割り込み間の同期に適しています。
-バイナリセマフォとミューテックスは似ていますが、いくつか本質的な違いがあります。ミューテックスは優先度を継承する機構が備わっていますが、バイナリセマフォには備わっていません。</p>
+<p>複数のタスクを並列動作させると、リソース（入出力や、メモリ）に複数のタスクが同時アクセスすることで意図しない動作を引き起こすことがあります。
+ミューテックス(mutex: mutual exclusion)を用いると、リソースに同時にアクセスするタスクを1つに限定することができます。これを「排他制御」と呼びます。</p>
+<p><a class="reference internal" href="#task02"><span class="std std-numref">リスト 28</span></a> の例では、ミューテックスをつかって、1つのタスクの動作（シリアルコンソールへの書き込み）が終わるまで、他のタスクが待つ例です。
+このように、常時動いているタスクに対して、一時停止したり、処理を制限したりするのがミューテックスの使い方です。
+（参考：<a class="reference external" href="https://lang-ship.com/blog/work/esp32-freertos-l06-semaphore-mutex">ESP32のFreeRTOS入門 その6 セマフォとミューテックス</a> ）</p>
+<p>これに対して、セマフォは、基本的には待機・一時停止状態にあるタスクに対して、動作許可を与える用途で使用されます。
+動作許可を与える主体・タイミングとしては、他のタスクや、「割り込み(ISR: interrupt service routine)」からになります。
+ただし、バイナリセマフォを用いるより、<a class="reference external" href="https://www.freertos.org/RTOS_Task_Notification_As_Binary_Semaphore.html">RTOS Task Notifications</a>
+を用いたほうが、高速かつメモリ使用量を削減できるようです。</p>
+<ul class="simple">
+<li>バイナリセマフォは、タスク間またはタスクと割り込み間の同期に適しています。</li>
+<li>バイナリセマフォとミューテックスは似ていますが、いくつか本質的な違いがあります。ミューテックスは優先度を継承する機構が備わっていますが、バイナリセマフォには備わっていません。</li>
+</ul>
 <div class="admonition note">
 <p class="first admonition-title">注釈</p>
 <p class="last">参考: <a class="reference external" href="https://www.freertos.org/xSemaphoreCreateBinary.html">RTOS binary semaphore API</a></p>
 </div>
-<p>ただし、バイナリセマフォを用いるより、<a class="reference external" href="https://www.freertos.org/RTOS_Task_Notification_As_Binary_Semaphore.html">RTOS Task Notifications</a>
-を用いたほうが、高速かつメモリ使用量を削減できるようです。</p>
+</div>
+<div class="section" id="id6">
+<h2>キュー<a class="headerlink" href="#id6" title="このヘッドラインへのパーマリンク">¶</a></h2>
+<p>参考：<a class="reference external" href="https://lang-ship.com/blog/work/esp32-freertos-l05-queue">ESP32のFreeRTOS入門 その5 キュー</a></p>
+</div>
+<div class="section" id="freertosrtos">
+<h2>FreeRTOSと、その他のRTOS<a class="headerlink" href="#freertosrtos" title="このヘッドラインへのパーマリンク">¶</a></h2>
+<p>今回の実験では、Arduino IDEでのM5StickCPlusプログラミングを行ってきました。これまでArduino IDEでM5StickCPlusに書き込んできたプログラムは、FreeRTOS (RealTime OS) というRTOSの仕組みをつかって動作しています。
+いいかえると、ESP32プロセッサ上で、FreeRTOS プログラミングをしていたことになります。ちなみに、M5StickCPlusのような画面やブザー、センサがついていない <a class="reference external" href="https://akizukidenshi.com/catalog/g/gM-15673">ESP32プロセッサ開発ボード</a> も販売されています。</p>
 <ul class="simple">
 <li>MCU RTOS習得(2020年版) <a class="reference external" href="http://happytech.jp/bRTOS.html">http://happytech.jp/bRTOS.html</a></li>
 </ul>
+<p>その他のRTOSには、T-Kernel や ThreadX があります。こちらも、限られた資源（メモリやプロセッサ）で、厳密な処理時間管理が行える仕組みが備わっています。</p>
+<ul class="simple">
+<li>参考：<a class="reference external" href="https://cit.istlab.info/ex1">2020年度 情報通信工学実験1 リアルタイムプログラミング【RTP】</a></li>
+</ul>
 </div>
 </div>
 
@@ -460,6 +484,7 @@
           </div>
           <footer>
     <div class="rst-footer-buttons" role="navigation" aria-label="footer navigation">
+        <a href="faq.html" class="btn btn-neutral float-right" title="Frequently-Asked Questions （FAQ: よくある質問）" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
         <a href="week1.html" class="btn btn-neutral float-left" title="1週目" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
     </div>
 
diff --git a/faq.rst b/faq.rst
new file mode 100755
index 0000000..ee3bac7
--- /dev/null
+++ b/faq.rst
@@ -0,0 +1,18 @@
+Frequently-Asked Questions （FAQ: よくある質問）
+===================================
+
+電源がはいらない
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+- 充電が不十分である可能性があります。ケーブルを接続してしばらく充電してみましょう。
+- シリアルポートが認識されていれば、適当なプログラム（画面表示するほうがわかりやすい）を書き込んでみましょう。
+
+
+プログラムの書き込みができない
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+- USB-TypeCの向き(!!)をかえてみましょう。改善する場合があります。
+
+
+再起動を繰り返す
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+- タスク化した関数を抜ける(終了する)ときに、自タスクを終了していない可能性があります。
+- その他、タスクに割り当てるメモリが足りない場合など、メモリ使用の不具合も、再起動を引き起こすことがあります。
\ No newline at end of file
diff --git a/images/._lcd_sample.png b/images/._lcd_sample.png
new file mode 100644
index 0000000..549c580
--- /dev/null
+++ b/images/._lcd_sample.png
Binary files differ
diff --git a/images/._servohat.png b/images/._servohat.png
new file mode 100644
index 0000000..54535c4
--- /dev/null
+++ b/images/._servohat.png
Binary files differ
diff --git a/images/lcd_sample.png b/images/lcd_sample.png
new file mode 100644
index 0000000..b424615
--- /dev/null
+++ b/images/lcd_sample.png
Binary files differ
diff --git a/images/servohat.png b/images/servohat.png
new file mode 100644
index 0000000..4f8cf1c
--- /dev/null
+++ b/images/servohat.png
Binary files differ
diff --git a/index.rst b/index.rst
index aeef49d..77f1f1c 100755
--- a/index.rst
+++ b/index.rst
@@ -18,6 +18,7 @@
    pre
    week1
    week2
+   faq
 ..   arduino
 ..   tutorial
    conclusion
diff --git a/intro.rst b/intro.rst
index 1663260..a5c2615 100755
--- a/intro.rst
+++ b/intro.rst
@@ -21,7 +21,9 @@
 - 1週目の予習：M5StickCPlusの予備調査、開発環境の構築
 - 1週目： M5StickCPlus の基本的な使用法と、機能の確認、グループで完成させる「システム」や「作品」についての話し合い、調査・開発の分担
 - 1週目〜2週目の期間：分担した調査・開発をすすめ、記録を残す。部分的な統合試験を行う。
-- 2週目： 分担して構築した機能の統合と動作試験、レポートの執筆、発表会に向けた準備と、情報共有
+- 2週目： 分担して構築した機能の統合と動作試験、報告書(レポート)の執筆、発表会に向けた準備と、情報共有
+
+`報告書の雛形 <https://docs.google.com/document/d/1NdvuHJ9wn09ZZ10xYCM-vMOOj3tjALfLL5VEKULvC6g/edit?usp=sharing>`_ ←こちらをコピー＆班で共有し、班単位でまとめて執筆・提出していただきます。
 
 評価基準
 ----------------
@@ -45,6 +47,6 @@
 参考URL
 ==========================================
 
-- M5StickC非公式日本語リファレンス <https://lang-ship.com/reference/unofficial/M5StickC></https:>
-- スイッチサイエンス M5StickC Plus <https://www.switch-science.com/catalog/6470>
-- M5StickCガイド<https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/M5StickC_Guide_Japanese.pdf>
\ No newline at end of file
+- M5StickC非公式日本語リファレンス https://lang-ship.com/reference/unofficial/M5StickC
+- スイッチサイエンス M5StickC Plus https://www.switch-science.com/catalog/6470
+- M5StickCガイド https://m5stack.oss-cn-shenzhen.aliyuncs.com/resource/docs/M5StickC_Guide_Japanese.pdf
\ No newline at end of file
diff --git a/pre.rst b/pre.rst
index c8a4b53..cfd7220 100755
--- a/pre.rst
+++ b/pre.rst
@@ -4,7 +4,7 @@
 ========================
 
 M5StickC Plus <https://www.switch-science.com/catalog/6470> に、プログラムを書き込むためには、
-開発環境（Arduino）のインストールと、設定が必要になります。
+開発環境（Arduino IDE）のインストールと、設定が必要になります。
 
 .. note::  M5StickC Plusは、2017年に発売されたM5StickC の後継版です。ディスプレイサイズと解像度、バッテリ容量が向上しています。また、ブザーも追加されているため、簡単な音を本体のみで鳴らすことができます。
 
diff --git a/src/httpclient01.ino b/src/httpclient01.ino
index e2f9a83..5ed5044 100644
--- a/src/httpclient01.ino
+++ b/src/httpclient01.ino
@@ -1,5 +1,5 @@
 #include <WiFi.h>
-#include <HTTPClient.h>
+#include <HTTPClient.h> // ステータスコードの定義もここにある
 
 const char* ssid = "**********";
 const char* password = "**********";
@@ -16,12 +16,12 @@
   }
   delay(1000);
   
-  HTTPClient http;
-  http.begin(weatherapi_url); //HTTPでサーバに接続
-  int httpCode = http.GET();
+  HTTPClient http;            // クライアント作成
+  http.begin(weatherapi_url); // HTTPでサーバに接続
+  int httpCode = http.GET();  // ステータスコードを取得
   if (httpCode > 0) {
       Serial.println(httpCode);
-    if (httpCode == HTTP_CODE_OK) {
+    if (httpCode == HTTP_CODE_OK) { // ステータスコードが「成功」(200) なら
       String payload = http.getString();
       Serial.println(payload);
     }
diff --git a/week1.rst b/week1.rst
index fc2d047..114f84b 100755
--- a/week1.rst
+++ b/week1.rst
@@ -24,11 +24,11 @@
 コードを書くときのヒントと注意
 -------------------------------------------------------
 
-- 以下のソースコード例は、右上のボタンを押すと、クリップボードに簡単にコピーできます。
+- 以下のソースコード例は、リストの右上の□ボタンを押すと、クリップボードに簡単にコピーできます。右上のボタンが表示されていないときは、右にスクロールしてください。
 - ソースコードのインデントは、CTRL+T （Macの場合はCommand+T）キーで、自動整形できます。
-- ``#include <M5StickC.h>``  は、M5StickC用のコードです。 **M5StickCPlus** では、``#include <M5StickCPlus.h>`` に変更しないと、表示がおかしくなることがあります。
+- ``#include <M5StickC.h>``  は、M5StickC用のヘッダファイル指定です。 **M5StickCPlus** では、画面解像度が異なるので、 ``#include <M5StickCPlus.h>`` に変更しないと、表示がおかしくなることがあります。
 - 大文字と小文字は厳密に区別されます。
-- 画面をつかうプログラムを書き込んだあと、画面を使わないプログラムを書き込むと、前のプログラムの画面が残ることがあります。
+- 画面(LCD)をつかうプログラムを書き込んだあと、画面を使わないプログラムを書き込むと、前のプログラムの画面が残ることがあります。
 - スケッチブック（プログラムを構成する、複数のソースコードを含むファイル、他のIDEではプロジェクトと呼ぶ場合もある）をコピーしたいときは、内包するフォルダごとコピーしてください。その際、フォルダ名と、メインのソースコードファイル名（拡張子以外の部分）は、一致している必要があります。
 
 Serial通信
@@ -71,6 +71,9 @@
   :linenos:
 ..  :emphasize-lines: 10-14
 
+.. figure:: images/lcd_sample.png
+   :scale: 100%
+
 画面の向きは、setRotation() 関数で、設定します。0〜3までの整数で、指定します。
 
 .. figure:: images/setRotation.gif
@@ -136,7 +139,7 @@
 内蔵LED（赤・赤外） 
 ----------------------------------------
 
-M5StickCPlusには、2つのLEDランプが内蔵されています。GPIO(General Purpose I/O)10 には、赤色LED、GPIO9 には、赤外LEDが接続されています。
+M5StickCPlusには、2つのLEDランプが内蔵されています。GPIO(General Purpose Input/Output)の10番 には、赤色LED、GPIO9 には、赤外LEDが接続されています。
 場所は、USBケーブルを挿す面の反対側の面にある、小さな穴2つの内側です。
 
 :numref:`led01` は、赤色LEDを点滅させるシンプルなプログラムです。
@@ -186,6 +189,10 @@
 
 :numref:`servohat01` は、`サーボハット <https://www.switch-science.com/catalog/6076>`_ のサーボモータを動かすサンプルです。サーボモータの制御はPWMですので、基本的に、上のPWMとやっていることは同じです。おまけとして、LEDも点灯させました。``map関数`` は、Arduinoで使える関数で、範囲に対応する値を変換するときに使います。ここでは、サーボ制御で用いる5〜33の値を、LED制御の値0〜256に変換しています。
 
+.. figure:: images/servohat.png
+   :scale: 70%
+
+
 .. literalinclude:: src/servohat01.ino
   :caption: 
   :name: servohat01
@@ -229,7 +236,7 @@
   :name: accgyro01
   :language: arduino
   :linenos:
-..  :emphasize-lines: 6-7, 15,19
+  :emphasize-lines: 11,16-17
 
 
 赤外(InfraRed)リモコン
@@ -258,7 +265,7 @@
 ~~~~~~~~~~~~~~~~~~~~~~~~
 
 内蔵の赤外LEDを用いて、信号を送信する例を :numref:`irsend01` に示します。
-内蔵の赤外LED光はあまり強くないため、50cm程度まで近づかないと反応しない場合があります。
+内蔵の赤外LED光はあまり強くないため、50cm程度まで近づかないと反応しない場合があります。また、太陽光の影響を強く受けます。
 単体の赤外LEDを接続して用いると、距離を伸ばすことができます。
 
 なお、NECフォーマットではない赤外線リモコンの通信フォーマットについては、 `赤外線リモコンの通信フォーマット <http://elm-chan.org/docs/ir_format.html>`_ や、スケッチ例を参考にしてください。
@@ -310,7 +317,7 @@
 ``WiFiServer server(23)`` で、23番ポートで待ち受けるサーバを、作成しています。
 ちなみに、``WiFiMulti`` は、複数のアクセスポイントに対して、Wifi接続を試みることができる機能（クラス）です。ただし、最終的に繋がるのは1つのアクセスポイントになります。
 
-.. note:: Telnet接続を切断するときは、まずControlキーをおしながら ``]`` をおしてください。プロンプトが ``telnet>`` と表示されますので、``quit`` と打ち込むと終了します。 ``Escape character is '^]'.`` の ``^`` は、Controlキーのことです。
+.. note:: Telnet接続を切断するときは、まずControlキーをおしながら ``]`` をおしてください。プロンプトに ``telnet>`` と表示されますので、``quit`` と打ち込むと終了します。 ``Escape character is '^]'.`` の ``^`` は、Controlキーのことです。
 
 .. literalinclude:: src/telnet01.ino
   :caption: 
@@ -373,7 +380,7 @@
 
 作成した「コード.gs」について、「公開」→「ウェブアプリケーションとして導入...」で、Webアプリとして公開できます。（なお、「新しいエディタ」では表示が異なるため、できない可能性があります。）
 
-作成できたかどうかをパソコンから確認するには、コマンドラインから、以下のように入力します（ただし、curlが必要です。val1=10 と val2=20 のあいだは＆記号ですので、シェルでバックグラウンド処理されないように、URLをシングルクォートで囲っています） ::
+作成できたかどうかをパソコンから確認するには、コマンドラインから、以下のように入力します（ただし、curlが必要です。val1=10 と val2=20 のあいだは＆記号ですので、シェルでバックグラウンド処理されないように、URLをシングルクォートで囲っています。-L (--location)は、リダイレクト先にリクエストを発行するcurlのオプションです。） ::
 
    curl -L  'https://script.google.com/macros/s/XxXxXxXxXx/exec?val1=10&val2=20' 
 
@@ -385,12 +392,12 @@
   :linenos:
   :emphasize-lines: 14
 
-
+.. warning:: doGet関数の返却値は、本来はHTTPのレスポンスとして受け取れるのですが、現状の ``HTTPClient`` ではリダイレクトをうまく処理できないため、Google App Scriptの出力を受け取れない可能性があります。
 
 WebServer
 ----------------------------------------
 
-すこし長いですが、:numref:`httpserver01` は、80番ポートでHTTPでの通信を待ち受け(listenし)て、クライアントからの接続情報（ヘッダ情報）を返すWebサーバのシンプルな例です。クライアント（ブラウザ）からのリクエスト行のうち、 ``GET`` または ``POST`` ではじまる行があれば、変数 ``meth`` に格納します。つまり、変数 ``meth`` には、ブラウザで発行したリクエストのURLが含まれることになります。POSTメソッドで送信されていれば、リクエストボディに記述されたデータを変数 ``post`` に格納します。 クライアント（ブラウザ）に返す「レスポンス」は、 ``client.println()`` で送信します。最後に、``client.stop()`` で、サーバ側から接続を切断します。
+すこし長いですが、:numref:`httpserver01` は、80番ポートでHTTPでの通信を待ち受け(listenし)て、クライアントからの接続情報（ヘッダ情報）を返すWebサーバのシンプルな例です。クライアント（ブラウザ）からのリクエスト行のうち、 ``GET`` または ``POST`` ではじまる行があれば、変数 ``meth`` に格納します。つまり、変数 ``meth`` には、ブラウザで発行したリクエストのURLが含まれることになります。（methはmethodの略。）POSTメソッドで送信されていれば、リクエストボディに記述されたデータを変数 ``post`` に格納します。 クライアント（ブラウザ）に返す「レスポンス」は、 ``client.println()`` で送信します。最後に、``client.stop()`` で、サーバ側から接続を切断します。
 
 .. literalinclude:: src/httpserver01.ino
   :caption: 
@@ -400,7 +407,7 @@
   :emphasize-lines: 18,22,26,43,80
 
 センサデータを返すだけなら問題ありませんが、クライアントからのデータを GET / POST で受信して処理する場合は、 ``key1=val1&key2=val2`` のような文字列を要素に分解する必要がでてきます。あまり深入りしませんが、正規表現で文字列を照合・抽出する ``Regexp`` や、抽出した結果をハッシュ/辞書として保存する ``Dictionary`` ライブラリを導入すると、複雑なリクエストやデータを扱いやすくなるでしょう。
-:numref:`regexp01` に、RGBの色指定文字列などのリクエスト文字列をパースして辞書に追加するプログラムの断片を示します。**注意：このプログラムは、単体では動作しません**
+:numref:`regexp01` に、RGBの色指定文字列などのリクエスト文字列をパースして辞書に追加するプログラムの断片を示します。**注意：このプログラム（** :numref:`regexp01` **）は、単体では動作しません**
 
 .. literalinclude:: src/regexp01.ino
   :caption: 
@@ -537,10 +544,9 @@
   :linenos:
 
 
-その他
--------------------------------------
-- CO2 (CCS811)
-- RCS-620S (Felica)
-- JJYClock
-- RTC(BM8563)
-- OTA
+.. その他
+.. - CO2 (CCS811)
+.. - RCS-620S (Felica)
+.. - JJYClock
+.. - RTC(BM8563)
+.. - OTA
diff --git a/week2.rst b/week2.rst
index 0e09e28..bb54aa3 100755
--- a/week2.rst
+++ b/week2.rst
@@ -21,14 +21,14 @@
 
 :numref:`task01` に、タスクを利用する例を示します。3つの異なるタスクを作成し、それぞれの関数内部で ``setup()`` と ``loop()`` に相当する処理を記述しています。
 引数の詳細については、`非公式日本語リファレンス <https://lang-ship.com/reference/unofficial/M5StickC/Functions/freertos/task>`_ を参照してください。
-ここの例では、1つのファイルに記述していますが、タスクごとに別のファイルにすることもできます。 例では使用していませんが、 ``TaskHandle_t`` は、タスクの一時停止（サスペンド）や、再開（レジューム）、削除のときに利用します。
+ここの例では、1つのファイルに記述していますが、タスクごとに別のファイルにすることもできます。 以下の例ではタスク生成時に、タスクハンドル ``TaskHandle_t`` を設定しています。タスクハンドルは、タスクの一時停止（サスペンド）や、再開（レジューム）、削除のときにタスクを特定するために必要となります。
 
 .. literalinclude:: src/task01.ino
   :caption: 
   :name: task01
   :language: arduino
   :linenos:
-..  :emphasize-lines: 6-7, 15,19
+  :emphasize-lines: 4,63-65
 
 .. note:: 参考：  `FreeRTOSでマルチタスク (on ESP32) <https://qiita.com/hideakitai/items/bd95d0db63097b8808f9>`_
 
@@ -46,17 +46,38 @@
 ミューテックスとセマフォ
 ----------------------------------------------------------
 
-複数のタスクを並列動作させると、リソースに同時アクセスすることで意図しない動作を引き起こすことがあります。
-ミューテックスを用いると、リソースに同時にアクセスできるタスクを限定することができます。これを「排他制御」と呼びます。
+複数のタスクを並列動作させると、リソース（入出力や、メモリ）に複数のタスクが同時アクセスすることで意図しない動作を引き起こすことがあります。
+ミューテックス(mutex: mutual exclusion)を用いると、リソースに同時にアクセスするタスクを1つに限定することができます。これを「排他制御」と呼びます。
 
-バイナリセマフォは、タスク間またはタスクと割り込み間の同期に適しています。
-バイナリセマフォとミューテックスは似ていますが、いくつか本質的な違いがあります。ミューテックスは優先度を継承する機構が備わっていますが、バイナリセマフォには備わっていません。
+:numref:`task02` の例では、ミューテックスをつかって、1つのタスクの動作（シリアルコンソールへの書き込み）が終わるまで、他のタスクが待つ例です。
+このように、常時動いているタスクに対して、一時停止したり、処理を制限したりするのがミューテックスの使い方です。
+（参考：`ESP32のFreeRTOS入門 その6 セマフォとミューテックス <https://lang-ship.com/blog/work/esp32-freertos-l06-semaphore-mutex>`_ ）
 
-
-
-.. note:: 参考: `RTOS binary semaphore API <https://www.freertos.org/xSemaphoreCreateBinary.html>`_ 
-
+これに対して、セマフォは、基本的には待機・一時停止状態にあるタスクに対して、動作許可を与える用途で使用されます。
+動作許可を与える主体・タイミングとしては、他のタスクや、「割り込み(ISR: interrupt service routine)」からになります。
 ただし、バイナリセマフォを用いるより、`RTOS Task Notifications <https://www.freertos.org/RTOS_Task_Notification_As_Binary_Semaphore.html>`_
 を用いたほうが、高速かつメモリ使用量を削減できるようです。
 
+- バイナリセマフォは、タスク間またはタスクと割り込み間の同期に適しています。
+- バイナリセマフォとミューテックスは似ていますが、いくつか本質的な違いがあります。ミューテックスは優先度を継承する機構が備わっていますが、バイナリセマフォには備わっていません。
+
+.. note:: 参考: `RTOS binary semaphore API <https://www.freertos.org/xSemaphoreCreateBinary.html>`_ 
+
+キュー
+--------------------------------------
+
+参考：`ESP32のFreeRTOS入門 その5 キュー <https://lang-ship.com/blog/work/esp32-freertos-l05-queue>`_ 
+
+
+
+FreeRTOSと、その他のRTOS
+----------------------------------
+
+今回の実験では、Arduino IDEでのM5StickCPlusプログラミングを行ってきました。これまでArduino IDEでM5StickCPlusに書き込んできたプログラムは、FreeRTOS (RealTime OS) というRTOSの仕組みをつかって動作しています。
+いいかえると、ESP32プロセッサ上で、FreeRTOS プログラミングをしていたことになります。ちなみに、M5StickCPlusのような画面やブザー、センサがついていない `ESP32プロセッサ開発ボード <https://akizukidenshi.com/catalog/g/gM-15673>`_ も販売されています。
+
 - MCU RTOS習得(2020年版) http://happytech.jp/bRTOS.html
+
+その他のRTOSには、T-Kernel や ThreadX があります。こちらも、限られた資源（メモリやプロセッサ）で、厳密な処理時間管理が行える仕組みが備わっています。
+
+- 参考：`2020年度 情報通信工学実験1 リアルタイムプログラミング【RTP】 <https://cit.istlab.info/ex1>`_
\ No newline at end of file