136 lines
3.0 KiB
C++
136 lines
3.0 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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/*
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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 integerQueue;
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#ifdef LED_BUILTIN
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uint8_t blink_pin = LED_BUILTIN;
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#elif defined(ARDUINO_ELSOMIK)
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uint8_t blink_pin = P0_0;
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#else
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uint8_t blink_pin = 2;
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#endif
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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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integerQueue = xQueueCreate(10, // Queue length
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sizeof(int) // Queue item size
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);
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if (integerQueue != 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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"Serial", // 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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2, // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
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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(TaskAnalogRead, // 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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1, // Priority
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NULL);
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}
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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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void loop() {}
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/**
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* Analog read task
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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 TaskAnalogRead(void *pvParameters)
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{
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(void) pvParameters;
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for (;;)
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{
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// Read the input on analog pin 0:
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int sensorValue = 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(integerQueue, &sensorValue, portMAX_DELAY);
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// One tick delay (10ms) 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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int valueFromQueue = 0;
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for (;;)
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{
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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(integerQueue, &valueFromQueue, portMAX_DELAY) == pdPASS) {
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Serial.println(valueFromQueue);
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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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{
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(void) pvParameters;
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pinMode(blink_pin, OUTPUT);
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for (;;)
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{
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digitalWrite(blink_pin, HIGH);
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vTaskDelay( 250 / portTICK_PERIOD_MS );
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digitalWrite(blink_pin, LOW);
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vTaskDelay( 250 / portTICK_PERIOD_MS );
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}
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}
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