#include <Arduino_FreeRTOS.h>
#include <croutine.h>
#include <event_groups.h>
#include <FreeRTOSConfig.h>
#include <FreeRTOSVariant.h>
#include <list.h>
//#include <message_buffer.h>
#include <mpu_wrappers.h>
#include <portable.h>
#include <portmacro.h>
#include <projdefs.h>
#include <queue.h>
#include <semphr.h>
#include <stack_macros.h>
//#include <stream_buffer.h>
#include <task.h>
#include <timers.h>
void setup() {
// Now set up two tasks to run independently.
xTaskCreate(
TaskBlink
, (const portCHAR *)"Blink" // A name just for humans
, 128 // Stack size
, NULL
, 2 // priority
, NULL );
xTaskCreate(
TaskAnalogRead
, (const portCHAR *) "AnalogRead"
, 128 // This stack size can be checked & adjusted by reading Highwater
, NULL
, 1 // priority
, NULL );
xTaskCreate(
TaskBlink2
, (const portCHAR *)"Blink" // A name just for humans
, 128 // Stack size
, NULL
, 2 // priority
, NULL );
// Now the task scheduler, which takes over control of scheduling individual tasks, is automatically started.
}
void loop()
{
// Empty. Things are done in Tasks.
}
/*--------------------------------------------------*/
/*---------------------- Tasks ---------------------*/
/*--------------------------------------------------*/
void TaskBlink(void *pvParameters) // This is a task.
{
(void) pvParameters;
// initialize digital pin 13 as an output.
pinMode(13, OUTPUT);
for (;;) // A Task shall never return or exit.
{
digitalWrite(13, HIGH); // turn the LED on (HIGH is the voltage level)
vTaskDelay( 1000 / portTICK_PERIOD_MS ); // wait for one second
digitalWrite(13, LOW); // turn the LED off by making the voltage LOW
vTaskDelay( 1000 / portTICK_PERIOD_MS ); // wait for one second
}
}
void TaskBlink2(void *pvParameters) // This is a task.
{
(void) pvParameters;
// initialize digital pin 13 as an output.
pinMode(13, OUTPUT);
pinMode(9, INPUT);
for (;;) // A Task shall never return or exit.
{
if(digitalRead(9)){
digitalWrite(13, HIGH); // turn the LED on (HIGH is the voltage level)
vTaskDelay( 200 / portTICK_PERIOD_MS ); // wait for one second
digitalWrite(13, LOW); // turn the LED off by making the voltage LOW
vTaskDelay( 200 / portTICK_PERIOD_MS ); // wait for one second
}
}
}
void TaskAnalogRead(void *pvParameters) // This is a task.
{
(void) pvParameters;
// initialize serial communication at 9600 bits per second:
Serial.begin(9600);
for (;;)
{
// read the input on analog pin 0:
int sensorValue = analogRead(A0);
// print out the value you read:
Serial.println(sensorValue);
vTaskDelay(200/portTICK_PERIOD_MS); // one tick delay (15ms) in between reads for stability
}
}
2018年4月25日 星期三
Using FreeRTOS multi-tasking in Arduino
https://www.hackster.io/feilipu/using-freertos-multi-tasking-in-arduino-ebc3cc
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