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Arduino_FreeRTOS_Library/examples/StructQueue/StructQueue.ino at master · thaolt/Arduino_FreeRTOS_Library · GitHub
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/*
* Example of a basic FreeRTOS queue
* https://www.freertos.org/Embedded-RTOS-Queues.html
*/
//
Include Arduino FreeRTOS library
#
include
<
Arduino_FreeRTOS.h
>
//
Include queue support
#
include
<
queue.h
>
//
Define a struct
struct
pinRead
{
int
pin;
int
value;
};
/*
* Declaring a global variable of type QueueHandle_t
*
*/
QueueHandle_t structQueue;
void
setup
() {
/*
*
* Create a queue.
* https://www.freertos.org/a00116.html
*/
structQueue =
xQueueCreate
(
10
,
//
Queue length
sizeof
(
struct
pinRead
)
//
Queue item size
);
if
(structQueue !=
NULL
) {
//
Create task that consumes the queue if it was created.
xTaskCreate
(TaskSerial,
//
Task function
"
Serial
"
,
//
A name just for humans
128
,
//
This stack size can be checked & adjusted by reading the Stack Highwater
NULL
,
2
,
//
Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
NULL
);
//
Create task that publish data in the queue if it was created.
xTaskCreate
(TaskAnalogReadPin0,
//
Task function
"
AnalogReadPin0
"
,
//
Task name
128
,
//
Stack size
NULL
,
1
,
//
Priority
NULL
);
//
Create other task that publish data in the queue if it was created.
xTaskCreate
(TaskAnalogReadPin1,
//
Task function
"
AnalogReadPin1
"
,
//
Task name
128
,
//
Stack size
NULL
,
1
,
//
Priority
NULL
);
}
xTaskCreate
(TaskBlink,
//
Task function
"
Blink
"
,
//
Task name
128
,
//
Stack size
NULL
,
0
,
//
Priority
NULL
);
}
void
loop
() {}
/*
*
* Analog read task for Pin A0
* Reads an analog input on pin 0 and send the readed value through the queue.
* See Blink_AnalogRead example.
*/
void
TaskAnalogReadPin0
(
void
*pvParameters)
{
(
void
) pvParameters;
for
(;;)
{
//
Read the input on analog pin 0:
struct
pinRead
currentPinRead;
currentPinRead.
pin
=
0
;
currentPinRead.
value
=
analogRead
(
A0
);
/*
*
* Post an item on a queue.
* https://www.freertos.org/a00117.html
*/
xQueueSend
(structQueue, ¤tPinRead, portMAX_DELAY);
//
One tick delay (15ms) in between reads for stability
vTaskDelay
(
1
);
}
}
/*
*
* Analog read task for Pin A1
* Reads an analog input on pin 1 and send the readed value through the queue.
* See Blink_AnalogRead example.
*/
void
TaskAnalogReadPin1
(
void
*pvParameters)
{
(
void
) pvParameters;
for
(;;)
{
//
Read the input on analog pin 1:
struct
pinRead
currentPinRead;
currentPinRead.
pin
=
1
;
currentPinRead.
value
=
analogRead
(
A1
);
/*
*
* Post an item on a queue.
* https://www.freertos.org/a00117.html
*/
xQueueSend
(structQueue, ¤tPinRead, portMAX_DELAY);
//
One tick delay (15ms) in between reads for stability
vTaskDelay
(
1
);
}
}
/*
*
* Serial task.
* Prints the received items from the queue to the serial monitor.
*/
void
TaskSerial
(
void
* pvParameters) {
(
void
) pvParameters;
//
Init Arduino serial
Serial.
begin
(
9600
);
//
Wait for serial port to connect. Needed for native USB, on LEONARDO, MICRO, YUN, and other 32u4 based boards.
while
(!Serial) {
vTaskDelay
(
1
);
}
for
(;;)
{
struct
pinRead
currentPinRead;
/*
*
* Read an item from a queue.
* https://www.freertos.org/a00118.html
*/
if
(
xQueueReceive
(structQueue, ¤tPinRead, portMAX_DELAY) == pdPASS) {
Serial.
print
(
"
Pin:
"
);
Serial.
print
(currentPinRead.
pin
);
Serial.
print
(
"
Value:
"
);
Serial.
println
(currentPinRead.
value
);
}
}
}
/*
* Blink task.
* See Blink_AnalogRead example.
*/
void
TaskBlink
(
void
*pvParameters)
{
(
void
) pvParameters;
pinMode
(
LED_BUILTIN
,
OUTPUT
);
for
(;;)
{
digitalWrite
(
LED_BUILTIN
,
HIGH
);
vTaskDelay
(
250
/ portTICK_PERIOD_MS );
digitalWrite
(
LED_BUILTIN
,
LOW
);
vTaskDelay
(
250
/ portTICK_PERIOD_MS );
}
}
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