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TABLE 13.5 PART NUMBER RTOS EXAMPLE APPLICATION BILL OF MATERIALS DESCRIPTION
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PIC18C452 Capacitor R1 R2 R9 Y1 Misc
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PIC18C452 10/JW 0.1- F tantalum capacitor 10 k , 1/4 W 220 , 1/4 W 4-MHz ceramic resonator with built-in capacitors Prototyping board, +5-Volt power supply, wiring
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PIC18 RTOS DESIGN
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The application code is
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CBLOCK 0x000 LEDTask Counter LEDValue ENDC Task1: clrf movlw movwf ; Put the Variables Starting at 0x000 ; ; Number of Times Executing
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Counter, 0 0x0FF LEDValue
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Clear the Variables
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TaskStart LEDTaskStart, 1, 2 movwf LEDTask movff LEDValue, FSR0L MsgSend LEDTask nop Task1Loop: IntWait 14 incf movlw xorwf btfss bra movwf decf Counter, f, 0 64 Counter, w, 0 STATUS, Z, 0 Task1Loop: Counter, 0 LEDValue, f, 0
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; ; ;
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Put in the LED Executing Task Save the Task Number of LEDTask Save the LED Task Value
Loop Here Until 64x Past Wait for the Timer0 Interrupt
Done 64x
If Not, Loop Around Again
Increment the LEDs
movff LEDValue, FSR0L MsgSend LEDTask bra Task1Loop
LEDTaskStart: ; Messages CBLOCK 0x000 LEDTaskNumber ENDC clrf TRISB, 0
Make PORTB Output and Wait for
Variables
REAL-TIME OPERATING SYSTEMS
LEDTaskLoop: MsgWait movwf
Loop Here for Each Character
LEDTaskNumber, 0
Save the Task Number
MsgRead LEDTaskNumber movff FSR0L, PORTB MsgAck LEDTaskNumber bra LEDTaskLoop:
; Update the LED Value with the Message ; Acknowledge the Message
In this code, Task1 rst enables LEDTaskStart, which puts all the bits of PORTB into output mode and then waits for a message to update the LEDs. Task1 saves the task number returned for LEDTaskStart and then sends a message to LEDTaskStart to turn off all the LEDs. Next, Task1 waits for the 16.384-ms timer to over ow 64 times (which takes approximately 1 second) and then updates the LED value and sends a message to LEDTaskStart. This is a very simple application, but there are a number of things to understand in it. The rst is the Task1 save of the LEDTaskStart task number. In this application, I have saved the value locally in Task1. For many other applications where a task provides a central resource to the complete application, you probably will want to make the task number available globally within the PIC microcontroller. To do this, the variable should be placed at the end of the le registers to make sure that there isn t a con ict with any task variables. Each task has its own unique bank select register, so access can be made by one task without affecting any of the others. In the code, note that I only access the variables using the access bank (the , 0 at the end of variable/register access instructions). This is an important thing to remember to do in your PIC18 applications. Forgetting to do it can cause some problems with accessing data in an unexpected manner. In the preceding code, note that I placed a nop instruction after the rst MsgSend macro invocation in Task1. The reason for doing this is to provide a place to hang a breakpoint onto. You cannot place a breakpoint at a macro invocation, so I put in the nop to allow my code to break after the MsgSend to be able to go back and take a look at what happened in the application. This seems to be a trick that not many people know about and can save you frustration later when you have an application with a lot of macros with straight assembly-language instructions in between them and you want to understand what is happening. Lastly, the MsgRead macro invocation in LEDTaskStart is unnecessary. This was done to test out the function, and MsgWait will return the same information. This is the fourth RTOS that I have presented in my books, and this one has one important difference from the others. In the previous RTOSs that I have created (for the Motorola 68HC05 and Intel 8051), I put a lot of emphasis on placing the RTOS and task variables where I could nd them easily and translate them to debug the application. For this PIC18 RTOS, I placed the emphasis on just making the task s variable space
PIC18 RTOS DESIGN
easy to look at. This made creating and debugging the RTOS somewhat more dif cult because I had to leave the thread of the debugging to move the program memory window back and forth to see what was going on. The File Register Window in MPLAB is shown in Fig. 13.3, and you can see how only the rst 192 le registers can be shown with the source le. These 192 le registers are enough for the variables used within the tasks and the 24-byte special-function register block, as well as the rst two tasks (AllTask and Task1) TIBs. Looking at the gure and nding speci c values, other than the rst three variables of Task1, at addresses 0x000 to 0x002 is not something that is easy to do. This was a compromise that I made when I designed the application. For people who are developing applications, this display is not a problem (and in fact, it works very well to see what is happening in a speci c task). When you are designing your own applications, you always should think about debugging and how data will be displayed to you and what you can do to make it easier to understand.
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