[修改] 增加freeRTOS

1. 版本FreeRTOSv202212.01，命名为kernel；

kernel/FreeRTOS/Demo/PIC18_MPLAB/main1.c

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+/*
+ * FreeRTOS V202212.01
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * https://www.FreeRTOS.org
+ * https://github.com/FreeRTOS
+ *
+ */
+
+/*
+ * Instead of the normal single demo application, the PIC18F demo is split
+ * into several smaller programs of which this is the first.  This enables the
+ * demo's to be executed on the RAM limited 40 pin devices.  The 64 and 80 pin
+ * devices require a more costly development platform and are not so readily
+ * available.
+ *
+ * The RTOSDemo1 project is configured for a PIC18F452 device.  Main1.c starts 5
+ * tasks (including the idle task).
+ *
+ * The first task runs at the idle priority.  It repeatedly performs a 32bit
+ * calculation and checks it's result against the expected value.  This checks
+ * that the temporary storage utilised by the compiler to hold intermediate
+ * results does not get corrupted when the task gets switched in and out.  See
+ * demo/common/minimal/integer.c for more information.
+ *
+ * The second and third tasks pass an incrementing value between each other on
+ * a message queue.  See demo/common/minimal/PollQ.c for more information.
+ *
+ * Main1.c also creates a check task.  This periodically checks that all the
+ * other tasks are still running and have not experienced any unexpected
+ * results.  If all the other tasks are executing correctly an LED is flashed
+ * once every mainCHECK_PERIOD milliseconds.  If any of the tasks have not
+ * executed, or report and error, the frequency of the LED flash will increase
+ * to mainERROR_FLASH_RATE.
+ *
+ * On entry to main an 'X' is transmitted.  Monitoring the serial port using a
+ * dumb terminal allows for verification that the device is not continuously
+ * being reset (no more than one 'X' should be transmitted).
+ *
+ * https://www.FreeRTOS.org contains important information on the use of the
+ * PIC18F port.
+ */
+
+/*
+Changes from V2.0.0
+
+	+ Delay periods are now specified using variables and constants of
+	  TickType_t rather than unsigned long.
+*/
+
+/* Scheduler include files. */
+#include "FreeRTOS.h"
+#include "task.h"
+
+/* Demo app include files. */
+#include "PollQ.h"
+#include "integer.h"
+#include "partest.h"
+#include "serial.h"
+
+/* The period between executions of the check task before and after an error
+has been discovered.  If an error has been discovered the check task runs
+more frequently - increasing the LED flash rate. */
+#define mainNO_ERROR_CHECK_PERIOD		( ( TickType_t ) 1000 / portTICK_PERIOD_MS )
+#define mainERROR_CHECK_PERIOD			( ( TickType_t ) 100 / portTICK_PERIOD_MS )
+
+/* Priority definitions for some of the tasks.  Other tasks just use the idle
+priority. */
+#define mainQUEUE_POLL_PRIORITY			( tskIDLE_PRIORITY + 2 )
+#define mainCHECK_TASK_PRIORITY			( tskIDLE_PRIORITY + 3 )
+
+/* The LED that is flashed by the check task. */
+#define mainCHECK_TASK_LED				( 0 )
+
+/* Constants required for the communications.  Only one character is ever
+transmitted. */
+#define mainCOMMS_QUEUE_LENGTH			( 5 )
+#define mainNO_BLOCK					( ( TickType_t ) 0 )
+#define mainBAUD_RATE					( ( unsigned long ) 9600 )
+
+/*
+ * The task function for the "Check" task.
+ */
+static void vErrorChecks( void *pvParameters );
+
+/*
+ * Checks the unique counts of other tasks to ensure they are still operational.
+ * Returns pdTRUE if an error is detected, otherwise pdFALSE.
+ */
+static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void );
+
+/*-----------------------------------------------------------*/
+
+/* Creates the tasks, then starts the scheduler. */
+void main( void )
+{
+	/* Initialise the required hardware. */
+	vParTestInitialise();
+	vPortInitialiseBlocks();
+
+	/* Send a character so we have some visible feedback of a reset. */
+	xSerialPortInitMinimal( mainBAUD_RATE, mainCOMMS_QUEUE_LENGTH );
+	xSerialPutChar( NULL, 'X', mainNO_BLOCK );
+
+	/* Start the standard demo tasks found in the demo\common directory. */
+	vStartIntegerMathTasks( tskIDLE_PRIORITY );
+	vStartPolledQueueTasks( mainQUEUE_POLL_PRIORITY );
+
+	/* Start the check task defined in this file. */
+	xTaskCreate( vErrorChecks, "Check", configMINIMAL_STACK_SIZE, NULL, mainCHECK_TASK_PRIORITY, NULL );
+
+	/* Start the scheduler.  Will never return here. */
+	vTaskStartScheduler();
+}
+/*-----------------------------------------------------------*/
+
+static void vErrorChecks( void *pvParameters )
+{
+TickType_t xDelayTime = mainNO_ERROR_CHECK_PERIOD;
+portBASE_TYPE xErrorOccurred;
+
+	/* Cycle for ever, delaying then checking all the other tasks are still
+	operating without error. */
+	for( ;; )
+	{
+		/* Wait until it is time to check the other tasks. */
+		vTaskDelay( xDelayTime );
+
+		/* Check all the other tasks are running, and running without ever
+		having an error. */
+		xErrorOccurred = prvCheckOtherTasksAreStillRunning();
+
+		/* If an error was detected increase the frequency of the LED flash. */
+		if( xErrorOccurred == pdTRUE )
+		{
+			xDelayTime = mainERROR_CHECK_PERIOD;
+		}
+
+		/* Flash the LED for visual feedback. */
+		vParTestToggleLED( mainCHECK_TASK_LED );
+	}
+}
+/*-----------------------------------------------------------*/
+
+static portBASE_TYPE prvCheckOtherTasksAreStillRunning( void )
+{
+portBASE_TYPE xErrorHasOccurred = pdFALSE;
+
+	if( xAreIntegerMathsTaskStillRunning() != pdTRUE )
+	{
+		xErrorHasOccurred = pdTRUE;
+	}
+
+	if( xArePollingQueuesStillRunning() != pdTRUE )
+	{
+		xErrorHasOccurred = pdTRUE;
+	}
+
+	return xErrorHasOccurred;
+}
+/*-----------------------------------------------------------*/
+
+