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In this code, each thread is polled to determine whether or not it can execute, and if it can, then control of the processor is passed to the thread until it nishes and then checks the next thread. There are a few issues with this model, not the least of which is the time required to poll each of the different threads, as well as the latency involved with going ahead and servicing the interrupt request. Another issue is that each thread is an autonomous subroutine with no initialization code (because it would be executed each time the thread executes). The best way to deal with initialization would be to create an initialization thread for each main thread, and on application startup, the initialization thread is set to execute, and at the end of the initialization thread, its ability to execute (ThreadActive == True) is terminated.

If there is a need to execute threads asynchronously in order to respond to interrupts, you may want to resort to building up multiple polling routines. For example, in the TAB Electronics Build Your Own Robot Kit, I was faced with the need to perform six tasks while implementing the motor PWM loop: Time PWM duty cycle as required. Send out IR data modulated at 38 kHz for collision detection. Poll IR receivers and indicate when there is an object close by. Poll IR receivers and indicate when an infrared remote-control command was being received. 5 Poll the BS2 synchronous serial clock and data lines and receive data from the BS2. 6 Update real-time clock.

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The loop gain is no longer a function of product flow, because of the compensating nonlinearity of the equal-percentage valve. But a t rade has been made: loop gain is now a function of AT, where it was not before. In most heat exchangers, however, AT never varies as much as 2: 1, whereas flow commonly does. So the trade is distinctly in the best interests of the loop. Equal-percentage valves are so widely used to combat line drop, that in many cases they are also compensating for variable dynamic gain without the user being aware of it. When the period of oscillation varies, derivative time ought to be changed accordingly. But stable control can be achieved with an incorrect value of derivative if the gain is appropriately adjusted. Consequently gain compensation for the variable dynamic element is mandatory, whereas derivative compensation can only be classified as desirable.

Implementing these tasks simultaneously in an event-driven RTOS would be quite simple, but it was a signi cant challenge in the robot because these tasks were implemented in a PIC16C505, a low-end device with no interrupts. To do this, I spent many hours carefully architecting the PWM loop and ensuring that polling of the different interfaces was done at appropriate intervals and that no changes in the incoming data were lost. Once this was done, I spent 6 weeks (literally) on the simulator, working through every possible scenario, to ensure that there could be no situations where the application would not work as expected. The code was very successful, and no problems were reported in the eld. Unfortunately, this effort could have been minimized signi cantly by implementing this application in a device that could support an RTOS. The PIC16C505 was chosen for cost and not for functionality, and while it gave me a very good price for the manufacturing of the robots, it took signi cantly more effort than I would have expected for a similar application created for an RTOS. This is a reiteration of the one of the central tenets for developing application code for an RTOS it is signi cantly easier to produce high-quality code for an RTOS than it is using standard programming techniques.

It is possible to implement an RTOS in the PIC18 architecture owing to the processor s ability to access the program counter stack. This feature allows the return address context information that is required to restore execution of the thread to be read or written by the RTOS task-switching code. Unlike other processors, the PIC18 does not place all context data onto the stack, which means that other means will have to be used to save the context information and then restore it into the appropriate registers. With a strategy that allows the saving of the return address information along with the context registers, you should be able to create an RTOS for the PIC18 architecture quite easily. There are a number of ways to save the context registers to ensure that the thread switching is fast and that the appropriate registers are saved and then retrieved. Probably the simplest way of doing this is to access all thread local variables via an index register with an offset; by doing this, the context registers (including the saved program

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