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BCount = 0; Inc = 1; while (1 == 1) { Delay(1/64 Sec); if (Button == Up) { Inc = 1 ButtonCount = 0; }else { BCount = BCount + 1; if (BCount > 63) { Send(TimeTask, Inc); Inc = ((Inc << 1) + 1) Inc = Inc & 0x03F } } }
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while (1 == 1) { Delay(1 Sec); Temp = DSRead(); Send(Task1, Temp); }
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Figure 13.5 application.
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The task diagram for a simple RTOS-based digital clock and thermometer
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The AllTask is built into the RTOS, and its function is to start the Task1 task executing and provide a task that never blocks and is able to execute instructions that aren t masked for interrupts. Task1 starts the other tasks and then initializes the LCD. Once the temperature task (TempTask) or the TimeTask has a message for it, it updates the LCD with the appropriate data. Note that in Task1, when the LCD is set up, I use the IntWait request to wait on the 16.384-ms TMR0 interrupt interval to provide long delays for the LCD. For short delays, I use the TaskNext RTOS request, which has the operating system check for other tasks and return. As I indicated earlier, this executes in about 700 s, which is a more than long enough delay to allow LCD short-delay commands to execute. The 16.384-ms TMR0 interrupt built into the RTOS is used by TimeTask, ButtonTask, and TempTask to initiate the requests. Each task spends most of its time doing nothing and just waiting for a speci c delay. When you look through the application, you probably will be surprised to nd that this 16.384-ms interval is used for the real-time clock. The advantages of using this interrupt interval is that regardless of the kinds of delays that occur owing to other tasks, each task will be interrupted every
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16.384 ms on average. When you rst single-step through the application, you ll nd that TimeTask is interrupted after almost 19 ms, but the average will work out to 16.384 ms, allowing this interval to be used as a regular clock. When you look at the TimeTask code, you will discover that I count the number of 16.384-ms intervals and add the delay until the total is greater than 1 second. Each time the TMR0 interrupt allows TimeTask to execute, the code executes as
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TotalTime = TotalTime + 0x04000; if (TotalTime > 1000000) { TotalTime = TotalTime 1000000; Seconds = Seconds + 1; if (Seconds > 59) { : } // Increment Second Fraction by // 16,384 // One Second has Past // Yes, take 1,000,000 from the // total // // Increment the Minute if Appropriate
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The 0x04000 that is added to TotalTime each time TMR0 over ows is 16,384 decimal which is the number of microseconds in hex. When the value is more than 1 million, 1 million is subtracted from the total, and the process repeats. Each time the process repeats, the TotalTime over ow after subtracting 1 million from it is added to the total. In Table 13.7, the TotalTime and number of TMR0 interrupts are shown for waiting for various seconds. In the table, you can see that the number of TMR0 intervals used for each second changes, so the average time that the second is updated is 1 million s, or 1 second. To ensure that the TMR0 interrupt is never missed by TimeTask, I have set it to the highest priority of any task in the PIC microcontroller. If an interrupt is missed by one of the other tasks (the temperature or button task), it is not critical. If there is an opportunity for the TMR0 interrupt to be missed by TimeTask, then the clock will not be accurate and will loose time the longer it executes. When you read through the code, you ll see that LCDTask does the conversion of the time and temperature before they are displayed on the LCD. For this application, the sending task number is used to determine which message should be processed.
TABLE 13.7 DIGITAL CLOCK/THERMOMETER APPLICATION TIME UPDATE WITH TMR0 INTERVALS TotalTime START TotalTime END TMR0 INTERVALS
0 15,808 15,232 14,656
1,015,808 1,015,232 1,014,656 1,014,080
62 61 61 61
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