PIC Vietnam - RTOS và ngắt khi giao tiếp rs232?

Trong phần help của nó có cái này,vừa xài ngắt,vừa xài RTOS, ko biết đúng ý bác ko:
Code:
/////////////////////////////////////////////////////////////////



///   This file demonstrates how to create a basic command    ///



///   line using the serial port withought having to stop     ///



///   RTOS operation, this can also be considered a           ///



///   semi kernal for the RTOS.                               ///



///                                                           ///

///   this demo makes use of the PIC18F452 prototyping board  ///



/////////////////////////////////////////////////////////////////



 



#include <18F452.h>



#use delay(clock=20000000)



#use rs232(baud=9600,xmit=PIN_C6,rcv=PIN_C7)



#use rtos(timer=0,minor_cycle=100ms)



#define RED PIN_B5



#define GREEN PIN_A5



#include <string.h>



// this character array will be used to take input from the prompt



char input [ 30 ];



// this will hold the current position in the array



int index;



// this will signal to the kernal that input is ready to be processed



int1 input_ready;



// different commands



char en1 [ ] = "enable1";



char en2 [ ] = "enable2";



char dis1 [ ] = "disable1";



char dis2 [ ] = "disable2";



#task(rate=1000ms,max=100ms)



void The_first_rtos_task ( );



#task(rate=1000ms,max=100ms)



void The_second_rtos_task ( );



#task(rate=500ms,max=100ms)



void The_kernal ( );



// serial interupt



#int_rda



void serial_interrupt ( )



{



   if(index<29) {



      input [ index ] = getc ( );   // get the value in the serial recieve reg



      putc ( input [ index ] );     // display it on the screen



      if(input[index]==0x0d){       // if the input was enter



         putc('\n');



         input [ index ] = '\0';    // add the null character



         input_ready=TRUE;          // set the input read variable to true



         index=0;                   // and reset the index



      }



      else if (input[index]==0x08){



         if ( index > 1 ) {



            putc(' ');



            putc(0x08);



            index-=2;



         }



      }



      index++;



   }



   else {



      putc ( '\n' );



      putc ( '\r' );



      input [ index ] = '\0';



      index = 0;



      input_ready = TRUE;



   }



}



void The_first_rtos_task ( ) {



   output_low(RED); delay_ms(50); output_high(RED);



}



void The_second_rtos_task ( ) {



   output_low(GREEN); delay_ms(20); output_high(GREEN);



}



void The_kernal ( ) {



   while ( TRUE ) {



      printf ( "INPUT:> " );



      while(!input_ready)



         rtos_yield ( );



      printf ( "%S\n\r%S\n\r", input , en1 );



      if ( !strcmp( input , en1 ) )



         rtos_enable ( The_first_rtos_task );



      else if ( !strcmp( input , en2 ) )



         rtos_enable ( The_second_rtos_task );



      else if ( !strcmp( input , dis1 ) )



         rtos_disable ( The_first_rtos_task );



      else if ( !strcmp ( input , dis2 ) )



         rtos_disable ( The_second_rtos_task );



      else



         printf ( "Error: unknown command\n\r" );



      input_ready=FALSE;



      index=0;



   }



}



void main ( ) {



   // initialize input variables



   index=0;



   input_ready=FALSE;



   // initialize interrupts



   enable_interrupts(int_rda);



   enable_interrupts(global);



   rtos_run();



}