161 lines
3.8 KiB
C++
161 lines
3.8 KiB
C++
/*
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* Example of a basic FreeRTOS queue
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* https://www.freertos.org/Embedded-RTOS-Queues.html
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*/
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// Include Arduino FreeRTOS library
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#include <Arduino_FreeRTOS.h>
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// Include queue support
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#include <queue.h>
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// Define a Array
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int pinReadArray[4]={0,0,0,0};
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//Function Declaration
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void TaskBlink(void *pvParameters);
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void TaskAnalogReadPin0(void *pvParameters);
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void TaskAnalogReadPin1(void *pvParameters);
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void TaskSerial(void *pvParameters);
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/*
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* Declaring a global variable of type QueueHandle_t
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*
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*/
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QueueHandle_t arrayQueue;
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void setup() {
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/**
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* Create a queue.
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* https://www.freertos.org/a00116.html
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*/
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arrayQueue=xQueueCreate(10, //Queue length
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sizeof(int)); //Queue item size
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if(arrayQueue!=NULL){
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// Create task that consumes the queue if it was created.
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xTaskCreate(TaskSerial,// Task function
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"PrintSerial",// Task name
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128,// Stack size
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NULL,
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2,// Priority
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NULL);
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// Create task that publish data in the queue if it was created.
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xTaskCreate(TaskAnalogReadPin0, // Task function
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"AnalogRead1",// Task name
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128,// Stack size
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NULL,
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1,// Priority
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NULL);
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// Create other task that publish data in the queue if it was created.
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xTaskCreate(TaskAnalogReadPin1,// Task function
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"AnalogRead2",// Task name
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128,// Stack size
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NULL,
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1,// Priority
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NULL);
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xTaskCreate(TaskBlink,// Task function
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"Blink", // Task name
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128,// Stack size
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NULL,
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0,// Priority
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NULL);
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}
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}
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void loop() {}
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/**
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* Analog read task for Pin A0
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* Reads an analog input on pin 0 and send the readed value through the queue.
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* See Blink_AnalogRead example.
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*/
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void TaskAnalogReadPin0(void *pvParameters){
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(void) pvParameters;
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for (;;){
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pinReadArray[0]=0;
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pinReadArray[1]=analogRead(A0);
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/**
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* Post an item on a queue.
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* https://www.freertos.org/a00117.html
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*/
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xQueueSend(arrayQueue,&pinReadArray,portMAX_DELAY);
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// One tick delay (15ms) in between reads for stability
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vTaskDelay(1);
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}
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}
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/**
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* Analog read task for Pin A1
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* Reads an analog input on pin 1 and send the readed value through the queue.
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* See Blink_AnalogRead example.
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*/
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void TaskAnalogReadPin1(void *pvParameters){
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(void) pvParameters;
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for (;;){
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pinReadArray[2]=1;
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pinReadArray[3]=analogRead(A1);
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/**
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* Post an item on a queue.
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* https://www.freertos.org/a00117.html
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*/
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xQueueSend(arrayQueue,&pinReadArray,portMAX_DELAY);
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// One tick delay (15ms) in between reads for stability
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vTaskDelay(1);
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}
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}
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/**
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* Serial task.
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* Prints the received items from the queue to the serial monitor.
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*/
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void TaskSerial(void *pvParameters){
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(void) pvParameters;
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// Init Arduino serial
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Serial.begin(9600);
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// Wait for serial port to connect. Needed for native USB, on LEONARDO, MICRO, YUN, and other 32u4 based boards.
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while (!Serial) {
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vTaskDelay(1);
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}
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for (;;){
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if(xQueueReceive(arrayQueue,&pinReadArray,portMAX_DELAY) == pdPASS ){
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Serial.print("PIN:");
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Serial.println(pinReadArray[0]);
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Serial.print("value:");
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Serial.println(pinReadArray[1]);
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Serial.print("PIN:");
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Serial.println(pinReadArray[2]);
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Serial.print("value:");
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Serial.println(pinReadArray[3]);
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vTaskDelay(500/portTICK_PERIOD_MS);
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}
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}
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}
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/*
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* Blink task.
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* See Blink_AnalogRead example.
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*/
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void TaskBlink(void *pvParameters){
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(void) pvParameters;
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pinMode(LED_BUILTIN,OUTPUT);
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digitalWrite(LED_BUILTIN,LOW);
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for (;;){
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digitalWrite(LED_BUILTIN,HIGH);
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vTaskDelay(250/portTICK_PERIOD_MS);
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digitalWrite(LED_BUILTIN,LOW);
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vTaskDelay(250/portTICK_PERIOD_MS);
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}
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}
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