151 lines
3.5 KiB
C++
151 lines
3.5 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 Structure Array
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struct Arduino{
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int pin[2];
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int ReadValue[2];
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};
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//Function Declaration
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void Blink(void *pvParameters);
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void POT(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 structArrayQueue;
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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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structArrayQueue=xQueueCreate(10, //Queue length
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sizeof(struct Arduino)); //Queue item size
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if(structArrayQueue!=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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// Create other task that publish data in the queue if it was created.
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xTaskCreate(POT,// Task function
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"AnalogRead",// 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 consumes the queue if it was created.
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xTaskCreate(TaskSerial,// Task function
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"PrintSerial",// A name just for humans
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128,// This stack size can be checked & adjusted by reading the Stack Highwater
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NULL,
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1, // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
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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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* 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(13,OUTPUT);
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digitalWrite(13,LOW);
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for(;;)
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{
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digitalWrite(13,HIGH);
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vTaskDelay(250/portTICK_PERIOD_MS);
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digitalWrite(13,LOW);
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vTaskDelay(250/portTICK_PERIOD_MS);
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}
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}
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/**
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* Analog read task for Pin A0 and A1
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* Reads an analog input on pin 0 and pin 1
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* Send the readed value through the queue.
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* See Blink_AnalogRead example.
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*/
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void POT(void *pvParameters){
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(void) pvParameters;
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pinMode(A0,INPUT);
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pinMode(A1,INPUT);
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for (;;){
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// Read the input on analog pin 0:
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struct Arduino currentVariable;
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currentVariable.pin[0]=0;
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currentVariable.pin[1]=1;
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currentVariable.ReadValue[0]=analogRead(A0);
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currentVariable.ReadValue[1]=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(structArrayQueue,¤tVariable,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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struct Arduino currentVariable;
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/**
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* Read an item from a queue.
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* https://www.freertos.org/a00118.html
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*/
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if(xQueueReceive(structArrayQueue,¤tVariable,portMAX_DELAY) == pdPASS ){
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for(int i=0;i<2;i++){
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Serial.print("PIN:");
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Serial.println(currentVariable.pin[i]);
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Serial.print("value:");
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Serial.println(currentVariable.ReadValue[i]);
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}
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}
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vTaskDelay(500/portTICK_PERIOD_MS);
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}
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}
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