[修改] 增加freeRTOS

1. 版本FreeRTOSv202212.01，命名为kernel；

kernel/FreeRTOS/Demo/PIC18_WizC/Demo1/main.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
+ *
+ */
+
+/*
+Changes from V3.0.0
+
+Changes from V3.0.1
+*/
+
+/*
+ * 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 PIC-devices.
+ *
+ * The Demo1 project is configured for a PIC18F4620 device.  Main.c starts 9 
+ * tasks (including the idle task).
+
+ * This first demo is included to do a quick check on the FreeRTOS
+ * installation. It is also included to demonstrate a minimal project-setup
+ * to use FreeRTOS in a wizC environment.
+ *
+ * Eight independent tasks are created. All tasks share the same taskcode.
+ * Each task blinks a different led on portB. The blinkrate for each task
+ * is different, but chosen in such a way that portB will show a binary
+ * counter pattern. All blinkrates are derived from a single master-rate.
+ * By default, this  masterrate is set to 100 milliseconds. Although such
+ * a low value will make it almost impossible to see some of the leds
+ * actually blink, it is a good value when using the wizC-simulator.
+ * When testing on a real chip, changing the value to eg. 500 milliseconds
+ * would be appropiate.
+ */
+ 
+/* Scheduler include files. */
+#include <FreeRTOS.h>
+#include <task.h>
+
+#define mainBLINK_LED_INTERVAL	( ( TickType_t ) 100 / ( portTICK_PERIOD_MS ) )
+
+/* The LED that is flashed by the B0 task. */
+#define mainBLINK_LED0_PORT		LATD
+#define mainBLINK_LED0_TRIS		TRISD
+#define mainBLINK_LED0_PIN		0
+#define mainBLINK_LED0_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED0_PIN))
+
+/* The LED that is flashed by the B1 task. */
+#define mainBLINK_LED1_PORT		LATD
+#define mainBLINK_LED1_TRIS		TRISD
+#define mainBLINK_LED1_PIN		1
+#define mainBLINK_LED1_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED1_PIN))
+
+/* The LED that is flashed by the B2 task. */
+#define mainBLINK_LED2_PORT		LATD
+#define mainBLINK_LED2_TRIS		TRISD
+#define mainBLINK_LED2_PIN		2
+#define mainBLINK_LED2_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED2_PIN))
+
+/* The LED that is flashed by the B3 task. */
+#define mainBLINK_LED3_PORT		LATD
+#define mainBLINK_LED3_TRIS		TRISD
+#define mainBLINK_LED3_PIN		3
+#define mainBLINK_LED3_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED3_PIN))
+
+/* The LED that is flashed by the B4 task. */
+#define mainBLINK_LED4_PORT		LATD
+#define mainBLINK_LED4_TRIS		TRISD
+#define mainBLINK_LED4_PIN		4
+#define mainBLINK_LED4_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED4_PIN))
+
+/* The LED that is flashed by the B5 task. */
+#define mainBLINK_LED5_PORT		LATD
+#define mainBLINK_LED5_TRIS		TRISD
+#define mainBLINK_LED5_PIN		5
+#define mainBLINK_LED5_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED5_PIN))
+
+/* The LED that is flashed by the B6 task. */
+#define mainBLINK_LED6_PORT		LATD
+#define mainBLINK_LED6_TRIS		TRISD
+#define mainBLINK_LED6_PIN		6
+#define mainBLINK_LED6_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED6_PIN))
+
+/* The LED that is flashed by the B7 task. */
+#define mainBLINK_LED7_PORT		LATD
+#define mainBLINK_LED7_TRIS		TRISD
+#define mainBLINK_LED7_PIN		7
+#define mainBLINK_LED7_INTERVAL	((mainBLINK_LED_INTERVAL) << (mainBLINK_LED7_PIN))
+
+typedef struct {
+	unsigned char *port;
+	unsigned char *tris;
+	unsigned char pin;
+	TickType_t  interval;
+} SBLINK;
+
+const SBLINK sled0 = {&mainBLINK_LED0_PORT, &mainBLINK_LED0_TRIS, mainBLINK_LED0_PIN, mainBLINK_LED0_INTERVAL};
+const SBLINK sled1 = {&mainBLINK_LED1_PORT, &mainBLINK_LED1_TRIS, mainBLINK_LED1_PIN, mainBLINK_LED1_INTERVAL};
+const SBLINK sled2 = {&mainBLINK_LED2_PORT, &mainBLINK_LED2_TRIS, mainBLINK_LED2_PIN, mainBLINK_LED2_INTERVAL};
+const SBLINK sled3 = {&mainBLINK_LED3_PORT, &mainBLINK_LED3_TRIS, mainBLINK_LED3_PIN, mainBLINK_LED3_INTERVAL};
+const SBLINK sled4 = {&mainBLINK_LED4_PORT, &mainBLINK_LED4_TRIS, mainBLINK_LED4_PIN, mainBLINK_LED4_INTERVAL};
+const SBLINK sled5 = {&mainBLINK_LED5_PORT, &mainBLINK_LED5_TRIS, mainBLINK_LED5_PIN, mainBLINK_LED5_INTERVAL};
+const SBLINK sled6 = {&mainBLINK_LED6_PORT, &mainBLINK_LED6_TRIS, mainBLINK_LED6_PIN, mainBLINK_LED6_INTERVAL};
+const SBLINK sled7 = {&mainBLINK_LED7_PORT, &mainBLINK_LED7_TRIS, mainBLINK_LED7_PIN, mainBLINK_LED7_INTERVAL};
+
+/*
+ * The task code for the "vBlink" task.
+ */
+static portTASK_FUNCTION_PROTO(vBlink, pvParameters);
+
+/*-----------------------------------------------------------*/
+
+/*
+ * Creates the tasks, then starts the scheduler.
+ */
+void main( void )
+{
+	/*
+	 * Start the blink tasks defined in this file.
+	 */
+	xTaskCreate( vBlink,  "B0", configMINIMAL_STACK_SIZE, &sled0, tskIDLE_PRIORITY, NULL );
+	xTaskCreate( vBlink,  "B1", configMINIMAL_STACK_SIZE, &sled1, tskIDLE_PRIORITY, NULL );
+	xTaskCreate( vBlink,  "B2", configMINIMAL_STACK_SIZE, &sled2, tskIDLE_PRIORITY, NULL );
+	xTaskCreate( vBlink,  "B3", configMINIMAL_STACK_SIZE, &sled3, tskIDLE_PRIORITY, NULL );
+	xTaskCreate( vBlink,  "B4", configMINIMAL_STACK_SIZE, &sled4, tskIDLE_PRIORITY, NULL );
+	xTaskCreate( vBlink,  "B5", configMINIMAL_STACK_SIZE, &sled5, tskIDLE_PRIORITY, NULL );
+	xTaskCreate( vBlink,  "B6", configMINIMAL_STACK_SIZE, &sled6, tskIDLE_PRIORITY, NULL );
+	xTaskCreate( vBlink,  "B7", configMINIMAL_STACK_SIZE, &sled7, tskIDLE_PRIORITY, NULL );
+
+	/*
+	 * Start the scheduler.
+	 */
+	vTaskStartScheduler( );
+	
+	while(1)	/* This point should never be reached. */
+	{
+	}
+}
+/*-----------------------------------------------------------*/
+
+static portTASK_FUNCTION(vBlink, pvParameters)
+{
+	unsigned char	*Port		= ((SBLINK *)pvParameters)->port;
+	unsigned char	*Tris		= ((SBLINK *)pvParameters)->tris;
+	unsigned char	Pin			= ((SBLINK *)pvParameters)->pin;
+	TickType_t	Interval	= ((SBLINK *)pvParameters)->interval;
+	
+	TickType_t	xLastWakeTime;
+
+	/*
+	 * Initialize the hardware
+	 */
+	*Tris &= ~(1<<Pin);	// Set the pin that is used by this task to ouput
+	*Port &= ~(1<<Pin);	// Drive the pin low
+	
+	/*
+	 * Initialise the xLastWakeTime variable with the current time.
+	 */
+	xLastWakeTime = xTaskGetTickCount();
+
+	/*
+	 * Cycle for ever, delaying then toggle the LED.
+	 */
+	for( ;; )
+	{
+		/*
+		 * Wait until it is time to toggle
+		 */
+		vTaskDelayUntil( &xLastWakeTime, Interval );
+
+		/*
+		 * Toggle the LED for visual feedback.
+		 */
+		*Port ^= 1<<Pin;
+	}
+}