dsPIC33CKでFreeRTOSを実装

#ifndef FREERTOS_CONFIG_H
#define FREERTOS_CONFIG_H

#include "xc.h"

#define configUSE_PREEMPTION			1	// プリエンプティブマルチタスク
#define configUSE_IDLE_HOOK			    0	// IdleHook no use
#define configUSE_TICK_HOOK			    0
#define configTICK_RATE_HZ			( ( TickType_t ) 1000 )
#define configCPU_CLOCK_HZ			( ( unsigned long ) 50000000 )  /* Fosc / 2 */
#define configMAX_PRIORITIES			( 4 )
#define configMINIMAL_STACK_SIZE		( 105 )
#define configTOTAL_HEAP_SIZE			( ( size_t ) 5120 )
#define configMAX_TASK_NAME_LEN			( 4 )
#define configUSE_TRACE_FACILITY		0
#define configUSE_16_BIT_TICKS			1
#define configIDLE_SHOULD_YIELD			1

/* Co-routine definitions. */
#define configUSE_CO_ROUTINES			0
#define configMAX_CO_ROUTINE_PRIORITIES ( 2 )

#define configUSE_MUTEXES			    1
#define configUSE_COUNTING_SEMAPHORES   0
#define configUSE_ALTERNATIVE_API 		0
#define configCHECK_FOR_STACK_OVERFLOW	0
#define configUSE_RECURSIVE_MUTEXES		0
#define configQUEUE_REGISTRY_SIZE		0
#define configGENERATE_RUN_TIME_STATS	0
#define configUSE_MALLOC_FAILED_HOOK	0

/* Set the following definitions to 1 to include the API function, or zero
to exclude the API function. */

#define INCLUDE_vTaskPrioritySet		1
#define INCLUDE_uxTaskPriorityGet		0
#define INCLUDE_vTaskDelete			    0
#define INCLUDE_vTaskCleanUpResources	0
#define INCLUDE_vTaskSuspend			1
#define INCLUDE_vTaskDelayUntil			0
#define INCLUDE_vTaskDelay			    1

#define configKERNEL_INTERRUPT_PRIORITY	0x01

#define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t) ( ( ( TickType_t) ( xTimeInMs ) )) * ((( TickType_t) configTICK_RATE_HZ ) / ( TickType_t) 1000 ))

#endif /* FREERTOS_CONFIG_H */

// for RTOS
void vTask1();		//タスク関数1
void vTask2();		//タスク関数2
void vTask3();		//タスク関数3

xTaskHandle xTask1;
xTaskHandle xTask2;
xTaskHandle xTask3;
	・
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int main(void) {
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    初期化ルーチン
	・
    //タスクを生成
    xTaskCreate(vTask1,"task_main",100,NULL,3,&xTask1);
    xTaskCreate(vTask2,"task_setting",100,NULL,3,&xTask2);
    xTaskCreate(vTask3,"task_buzzer",100,NULL,3,&xTask3);
    //スケジューラを起動
    vTaskStartScheduler();
    for(;;);
}

//メインタスク
void vTask1(){
	for(;;) mloop();
}

// サブタスク１
void vTask2(){
    for(;;);    
}

// サブタスク２（PILOTタスク）
void vTask3() {
//	vTaskSuspend(xTask3);	// start後はサスペンドにしておく(電源投入時に鳴らせない)
	for(;;) {
		int i;
		for(i=0;i<3;i++) {
			PILOT = 1;
			vTaskDelay(1000);
			PILOT = 0;
			vTaskDelay(1000);
		}
//		vTaskSuspend(xTask3);
	}
}