C:\Users\W.YACOUB\Desktop\RTOS -CCS-C PIC C\ex_rtos_demo_1_tasks.

c 27 Temmuz 2017 Perembe 14:24

/////////////////////////////////////////////////////////////////////////
//// ex_rtos_demo1_tasks.C ////
//// ////
//// This file demonstrates how to use the ral time operating ////
//// system to schedule tasks and how to use the rtos_run function ////
//// ////
/////////////////////////////////////////////////////////////////////////
//// (C) Copyright 1996,2003 Custom Computer Services ////
//// This source code may only be used by licensed users of the CCS ////
//// C compiler. This source code may only be distributed to other ////
//// licensed users of the CCS C compiler. No other use, ////
//// reproduction or distribution is permitted without written ////
//// permission. Derivative programs created using this software ////
//// in object code form are not restricted in any way. ////
/////////////////////////////////////////////////////////////////////////

#include <18F452.h>
#use delay(clock=20000000)
#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)
// this tells the compiler that the rtos functionality will be needed, that
// timer0 will be used as the timing device, and that the minor cycle for
// all tasks will be 100 miliseconds
#use rtos(timer=0,minor_cycle=100ms)

// each function that is to be an operating system task must have the #task
// preprocessor directive located above it.
// in this case, the task will run every second, its maximum time to run must
// be less than or equal to the minor cycle, and there is no need for a
// queue at this point, so no memory will be reserved.
#task(rate=1000ms,max=100ms)
// the function can be called anything that a standard function can be called
void The_first_rtos_task ( )
{
printf("1\n\r");
}

#task(rate=500ms,max=100ms)
void The_second_rtos_task ( )
{
printf("\t2!\n\r");
}

#task(rate=100ms,max=100ms)
void The_third_rtos_task ( )
{
printf("\t\t3\n\r");
}

// main is still the entry point for the program

void main ( )
{
// rtos_run begins the loop which will call the task functions above at the
// schedualed time
rtos_run ( );
}

/////////////////////////////////////////////////////////////////////////
//// ex_rtos_demo2_termination.C ////
//// ////
//// This file demonstrates how to use the real time operating ////
//// system rtos_terminate funciton. ////
//// ////
/////////////////////////////////////////////////////////////////////////
//// (C) Copyright 1996,2003 Custom Computer Services ////
//// This source code may only be used by licensed users of the CCS ////
//// C compiler. This source code may only be distributed to other ////
//// licensed users of the CCS C compiler. No other use, ////
//// reproduction or distribution is permitted without written ////
-1-
C:\Users\W.YACOUB\Desktop\RTOS -CCS-C PIC C\ex_rtos_demo_1_tasks.c 27 Temmuz 2017 Perembe 14:24
//// permission. Derivative programs created using this software ////
//// in object code form are not restricted in any way. ////
/////////////////////////////////////////////////////////////////////////

#include <18F452.h>
#use delay(clock=20000000)
#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)
#use rtos(timer=0,minor_cycle=100ms)

// a counter will be kept

int8 counter;

#task(rate=1000ms,max=100ms)
void The_first_rtos_task ( )
{
printf("1\n\r");
// if the counter has reached the desired value, the rtos will terminate
if(++counter==5)
rtos_terminate ( );
}

#task(rate=500ms,max=100ms)
void The_second_rtos_task ( )
{
printf("\t2!\n\r");
}

#task(rate=100ms,max=100ms)
void The_third_rtos_task ( )
{
printf("\t\t3\n\r");
}

void main ( )
{
// main is the best place to initialize resources the the rtos is dependent
// upon
counter = 0;
rtos_run ( );
// once the rtos_terminate function has been called, rtos_run will return
// program control back to main
printf("RTOS has been terminated\n\r");
}

/////////////////////////////////////////////////////////////////////////
//// ex_rtos_demo3_enable_disable.C ////
//// ////
//// This file demonstrates how to use the real time operating ////
//// system rtos_enable and rtos_disable functions ////
//// ////
/////////////////////////////////////////////////////////////////////////
//// (C) Copyright 1996,2003 Custom Computer Services ////
//// This source code may only be used by licensed users of the CCS ////
//// C compiler. This source code may only be distributed to other ////
//// licensed users of the CCS C compiler. No other use, ////
//// reproduction or distribution is permitted without written ////
//// permission. Derivative programs created using this software ////
//// in object code form are not restricted in any way. ////
/////////////////////////////////////////////////////////////////////////

#include <18F452.h>
#use delay(clock=20000000)
#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)
#use rtos(timer=0,minor_cycle=100ms)

int8 counter;

// now that task names will be passed as parameters, it is best

// to declare function prototypes so that there are no undefined
-2-
C:\Users\W.YACOUB\Desktop\RTOS -CCS-C PIC C\ex_rtos_demo_1_tasks.c 27 Temmuz 2017 Perembe 14:24
// identifier errors from the compiler
#task(rate=1000ms,max=100ms)
void The_first_rtos_task ( );

#task(rate=500ms,max=100ms)
void The_second_rtos_task ( );

#task(rate=100ms,max=100ms)
void The_third_rtos_task ( );

void The_first_rtos_task ( ) {
printf("1\n\r");
if(counter==3)
{
// to disable a task, simply pass the task name
// into the rtos_disable function
rtos_disable(The_third_rtos_task);
}
}

void The_second_rtos_task ( ) {
printf("\t2!\n\r");
if(++counter==10) {
counter=0;
// enabling tasks is similar to disabling them
rtos_enable(The_third_rtos_task);
}
}

void The_third_rtos_task ( ) {
printf("\t\t3\n\r");
}

void main ( ) {
counter = 0;
rtos_run ( );
}

/////////////////////////////////////////////////////////////////////////
//// ex_rtos_demo4_messages.C ////
//// ////
//// This file demonstrates how to use the real time operating ////
//// systems messaging functions. ////
//// ////
/////////////////////////////////////////////////////////////////////////
//// (C) Copyright 1996,2003 Custom Computer Services ////
//// This source code may only be used by licensed users of the CCS ////
//// C compiler. This source code may only be distributed to other ////
//// licensed users of the CCS C compiler. No other use, ////
//// reproduction or distribution is permitted without written ////
//// permission. Derivative programs created using this software ////
//// in object code form are not restricted in any way. ////
/////////////////////////////////////////////////////////////////////////

#include <18F452.h>
#use delay(clock=20000000)
#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)
#use rtos(timer=0,minor_cycle=500ms)

int8 count;

// each task will now be given a two byte queue

#task(rate=1000ms,max=100ms,queue=2)
void The_first_rtos_task ( );

#task(rate=500ms,max=100ms,queue=2)
void The_second_rtos_task ( );

void The_first_rtos_task ( ) {
// the function rtos_msg_poll will return the number of messages in the
-3-
C:\Users\W.YACOUB\Desktop\RTOS -CCS-C PIC C\ex_rtos_demo_1_tasks.c 27 Temmuz 2017 Perembe 14:24
// current tasks queue
// always make sure to check that their is a message or else the read
// function will hang
if(rtos_msg_poll ( )>0){
// the function rtos_msg_read, reads the first value in the queue
printf("messages recieved by task1 : %i\n\r",rtos_msg_read ( ));
// the funciton rtos_msg_send, sends the value given as the
// second parameter to the function given as the first
rtos_msg_send(The_second_rtos_task,count);
count++;
}
}

void The_second_rtos_task ( ) {
rtos_msg_send(The_first_rtos_task,count);
if(rtos_msg_poll ( )>0){
printf("messages recieved by task2 : %i\n\r",rtos_msg_read ( ));
count++;
}
}

void main ( ) {
count=0;
rtos_run();
}

/////////////////////////////////////////////////////////////////////////
//// ex_rtos_demo_5_yield.C ////
//// ////
//// This file demonstrates how to use the real time operating ////
//// rtos_yield function. ////
//// ////
/////////////////////////////////////////////////////////////////////////
//// (C) Copyright 1996,2003 Custom Computer Services ////
//// This source code may only be used by licensed users of the CCS ////
//// C compiler. This source code may only be distributed to other ////
//// licensed users of the CCS C compiler. No other use, ////
//// reproduction or distribution is permitted without written ////
//// permission. Derivative programs created using this software ////
//// in object code form are not restricted in any way. ////
/////////////////////////////////////////////////////////////////////////

#include <18F452.h>
#use delay(clock=20000000)
#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)
#use rtos(timer=0,minor_cycle=100ms)

#task(rate=1000ms,max=100ms,queue=2)
void The_first_rtos_task ( );

#task(rate=500ms,max=100ms,queue=2)
void The_second_rtos_task ( );

void The_first_rtos_task ( ) {
int count=0;
// rtos_yield allows the user to break out of a task at a given point
// and return to the same ponit when the task comes back into context
while(TRUE){
count++;
rtos_msg_send(The_second_rtos_task,count);
rtos_yield ( );
}
}

void The_second_rtos_task ( ) {
if(rtos_msg_poll( ))
{
printf("count is : %i\n\r",rtos_msg_read ( ));
}
-4-
C:\Users\W.YACOUB\Desktop\RTOS -CCS-C PIC C\ex_rtos_demo_1_tasks.c 27 Temmuz 2017 Perembe 14:24
}

void main ( ) {
rtos_run();
}

/////////////////////////////////////////////////////////////////////////
//// ex_rtos_demo_6_semaphores.C ////
//// ////
//// This file demonstrates how to use the real time operating ////
//// rtos_signal and rtos_wait function to handle resources ////
//// ////
/////////////////////////////////////////////////////////////////////////
//// (C) Copyright 1996,2003 Custom Computer Services ////
//// This source code may only be used by licensed users of the CCS ////
//// C compiler. This source code may only be distributed to other ////
//// licensed users of the CCS C compiler. No other use, ////
//// reproduction or distribution is permitted without written ////
//// permission. Derivative programs created using this software ////
//// in object code form are not restricted in any way. ////
/////////////////////////////////////////////////////////////////////////

#include <18F452.h>
#use delay(clock=20000000)
#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)
#use rtos(timer=0,minor_cycle=100ms)

// a semaphore is simply a shared system resource

// in the case of this example, the semaphore will be the red LED
int8 sem;
#define RED PIN_B5

#task(rate=1000ms,max=100ms,queue=2)
void The_first_rtos_task ( );

#task(rate=1000ms,max=100ms,queue=2)
void The_second_rtos_task ( );

void The_first_rtos_task ( ) {
int i;
// this will decrement the semaphore variable to zero which signals
// that no more user may use the resource
rtos_wait(sem);
for(i=0;i<5;i++){
output_low(RED); delay_ms(20); output_high(RED);
rtos_yield ( );
}
// this will inrement the semaphore variable to zero which then signals
// that the resource is available for use
rtos_signal(sem);
}

void The_second_rtos_task ( ) {
int i;
rtos_wait(sem);
for(i=0;i<5;i++){
output_high(RED); delay_ms(20); output_low(RED);
rtos_yield ( );
}
rtos_signal(sem);
}

void main ( ) {
// sem is initialized to the number of users allowed by the resource
// in the case of the LED and most other resources that limit is one
sem=1;
rtos_run();
}
-5-
C:\Users\W.YACOUB\Desktop\RTOS -CCS-C PIC C\ex_rtos_demo_1_tasks.c 27 Temmuz 2017 Perembe 14:24

/////////////////////////////////////////////////////////////////////////
//// ex_rtos_demo_7_await.C ////
//// ////
//// This file demonstrates how to use the real time operating ////
//// systems rtos_await function ////
//// ////
/////////////////////////////////////////////////////////////////////////
//// (C) Copyright 1996,2003 Custom Computer Services ////
//// This source code may only be used by licensed users of the CCS ////
//// C compiler. This source code may only be distributed to other ////
//// licensed users of the CCS C compiler. No other use, ////
//// reproduction or distribution is permitted without written ////
//// permission. Derivative programs created using this software ////
//// in object code form are not restricted in any way. ////
/////////////////////////////////////////////////////////////////////////

#include <18F452.h>
#use delay(clock=20000000)
#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)
#use rtos(timer=0,minor_cycle=100ms)

#define RED PIN_B5

#define GREEN PIN_A5

int8 count;

#task(rate=1000ms,max=100ms,queue=2)
void The_first_rtos_task ( );

#task(rate=1000ms,max=100ms,queue=2)
void The_second_rtos_task ( );

void The_first_rtos_task ( ) {
// rtos_await simply waits for the given expression to be true
// if it is not true, it acts like an rtos_yield and passes the system
// to the next task
rtos_await(count==10);
output_low(GREEN); delay_ms(20); output_high(GREEN);
count=0;
}

void The_second_rtos_task ( ) {
output_low(RED); delay_ms(20); output_high(RED);
count++;
}

void main ( ) {
count=0;
rtos_run();
}

/////////////////////////////////////////////////////////////////////////
//// ex_rtos_demo_8_Statistics.C ////
//// ////
//// This file demonstrates how to use the real time operating ////
//// systems statistics featuers ////
//// ////
/////////////////////////////////////////////////////////////////////////
//// (C) Copyright 1996,2003 Custom Computer Services ////
//// This source code may only be used by licensed users of the CCS ////
//// C compiler. This source code may only be distributed to other ////
//// licensed users of the CCS C compiler. No other use, ////
//// reproduction or distribution is permitted without written ////
//// permission. Derivative programs created using this software ////
//// in object code form are not restricted in any way. ////
-6-
C:\Users\W.YACOUB\Desktop\RTOS -CCS-C PIC C\ex_rtos_demo_1_tasks.c 27 Temmuz 2017 Perembe 14:24
/////////////////////////////////////////////////////////////////////////

#include <18F452.h>
#use delay(clock=20000000)
#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)
#use rtos(timer=0,minor_cycle=100ms,statistics)

// This structure must be defined inorder to retrieve the statistical

// information
struct rtos_stats {
int32 task_total_ticks; // number of ticks the task has used
int16 task_min_ticks; // the minimum number of ticks used
int16 task_max_ticks; // the maximum number of ticks ueed
int16 hns_per_tick; // us = (ticks*hns_per_tic)/10
};

#task(rate=1000ms,max=100ms)
void The_first_rtos_task ( );

#task(rate=1000ms,max=100ms)
void The_second_rtos_task ( );

void The_first_rtos_task ( ) {
struct rtos_stats stats;
rtos_stats(The_second_rtos_task,&stats);
printf ( "\n\r" );
printf ( "task_total_ticks : %Lius\n\r" ,
(int32)(stats.task_total_ticks)*stats.hns_per_tick );
printf ( "task_min_ticks : %Lius\n\r" ,
(int32)(stats.task_min_ticks)*stats.hns_per_tick );
printf ( "task_max_ticks : %Lius\n\r" ,
(int32)(stats.task_max_ticks)*stats.hns_per_tick );
printf ("\n\r");
}

void The_second_rtos_task ( ) {
int i, count = 0;

while(TRUE) {
if(rtos_overrun(the_second_rtos_task)) {
printf("The Second Task has Overrun\n\r\n\r");
count=0;
}
else
count++;

for(i=0;i<count;i++)
delay_ms(50);

rtos_yield();
}
}

void main ( ) {
rtos_run ( );
}

/////////////////////////////////////////////////////////////////////////
//// ex_rtos_demo_9_basic_kernal.C ////
//// ////
//// This file demonstrates how to create a basic command line ////
//// using the serial port without having to stop the RTOS ////
//// operation. This can also be considered a semi kernal for ////
//// the RTOS. ////
//// ////
/////////////////////////////////////////////////////////////////////////
//// (C) Copyright 1996,2003 Custom Computer Services ////
//// This source code may only be used by licensed users of the CCS ////
-7-
C:\Users\W.YACOUB\Desktop\RTOS -CCS-C PIC C\ex_rtos_demo_1_tasks.c 27 Temmuz 2017 Perembe 14:24
//// C compiler. This source code may only be distributed to other ////
//// licensed users of the CCS C compiler. No other use, ////
//// reproduction or distribution is permitted without written ////
//// permission. Derivative programs created using this software ////
//// in object code form are not restricted in any way. ////
/////////////////////////////////////////////////////////////////////////

#include <18F452.h>
#use delay(clock=20000000)
#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)
#use rtos(timer=0,minor_cycle=100ms)

#define RED PIN_B5

#define GREEN PIN_A5

#include <string.h>

// this character array will be used to take input from the prompt
char input [ 30 ];
// this will hold the current position in the array
int index;
// this will signal to the kernal that input is ready to be processed
int1 input_ready;
// different commands
char en1 [ ] = "enable1";
char en2 [ ] = "enable2";
char dis1 [ ] = "disable1";
char dis2 [ ] = "disable2";

#task(rate=1000ms,max=100ms)
void The_first_rtos_task ( );

#task(rate=1000ms,max=100ms)
void The_second_rtos_task ( );

#task(rate=500ms,max=100ms)
void The_kernal ( );

// serial interupt
#int_rda
void serial_interrupt ( )
{
if(index<29) {
input [ index ] = getc ( ); // get the value in the serial recieve reg
putc ( input [ index ] ); // display it on the screen
if(input[index]==0x0d){ // if the input was enter
putc('\n');
input [ index ] = '\0'; // add the null character
input_ready=TRUE; // set the input read variable to true
index=0; // and reset the index
}
else if (input[index]==0x08){
if ( index > 1 ) {
putc(' ');
putc(0x08);
index-=2;
}
}
index++;
}
else {
putc ( '\n' );
putc ( '\r' );
input [ index ] = '\0';
index = 0;
input_ready = TRUE;
}
}

void The_first_rtos_task ( ) {
output_low(RED); delay_ms(50); output_high(RED);
-8-
C:\Users\W.YACOUB\Desktop\RTOS -CCS-C PIC C\ex_rtos_demo_1_tasks.c 27 Temmuz 2017 Perembe 14:24
}

void The_second_rtos_task ( ) {
output_low(GREEN); delay_ms(20); output_high(GREEN);
}

void The_kernal ( ) {
while ( TRUE ) {
printf ( "INPUT:> " );
while(!input_ready)
rtos_yield ( );

printf ( "%S\n\r%S\n\r", input , en1 );

if ( !strcmp( input , en1 ) )

rtos_enable ( The_first_rtos_task );
else if ( !strcmp( input , en2 ) )
rtos_enable ( The_second_rtos_task );
else if ( !strcmp( input , dis1 ) )
rtos_disable ( The_first_rtos_task );
else if ( !strcmp ( input , dis2 ) )
rtos_disable ( The_second_rtos_task );
else
printf ( "Error: unknown command\n\r" );

input_ready=FALSE;
index=0;
}
}

void main ( ) {
// initialize input variables
index=0;
input_ready=FALSE;
// initialize interrupts
enable_interrupts(int_rda);
enable_interrupts(global);
rtos_run();
}

-9-