PIC32 version of the CRTOS library (http://www.libstock.com/projects/view/722/c-rtos-for-mp-and-mb-p18-and-p24) already available for PIC18 and PIC24.

CRTOS stands for Cooperative Real Time Operating System; designed for and written specifically in mP/mB from mikroElektronika. The system uses cooperative as opposed to pre-emptive scheduling which means that the application code you write has to voluntarily release back to the operating system at appropriate times.

The PIC32 mP version was tested on the mini32 board (P32MX534F064H with 80 Mhz CPU clock).

CRTOS supports the following features:

• Task priorities
• Tasks can have local variables of which the values are preserved between task invocations.
• Unconditional yielding to the CRTOS Scheduler
• Timed yielding to the CRTOS Scheduler (i.e. “delay” performed by the Scheduler)
• Binary semaphores
• Counting semaphores
• Waiting for semaphores with or without timeout
• Clearing semaphores
• Starting and stopping tasks
• Starting tasks with an initial delay
• Signaling semaphores from within an Interrupt Service Routine
• An "Always" procedure in every scheduler loop (optionally)

Have fun!

2015-05-26: Small improvement in the "Restore_Registers" code. Also reduced the code size with approx. 1 Kb.   No functionality changes.    

2015-05-28: Corrected a small issue in "Restore_registers.inc". No functional change.

2015-05-31: Added the mB package.