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FreeRTOS Code

The document contains code for implementing tasks using FreeRTOS on Arduino. It defines two tasks TaskLED1 and TaskLED2 that blink LEDs connected to pin 12 and 13 respectively. The tasks are created in setup() and blink the LEDs by turning them on and off using a delay. This provides a basic example of implementing multitasking on Arduino using FreeRTOS.

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praneeth
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73 views11 pages

FreeRTOS Code

The document contains code for implementing tasks using FreeRTOS on Arduino. It defines two tasks TaskLED1 and TaskLED2 that blink LEDs connected to pin 12 and 13 respectively. The tasks are created in setup() and blink the LEDs by turning them on and off using a delay. This provides a basic example of implementing multitasking on Arduino using FreeRTOS.

Uploaded by

praneeth
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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FreeRTOS Code

#include <Arduino_FreeRTOS.h>
int LEDpin1 = 12;
int LEDpin2 = 13;
void TaskLED1( void );
void TaskLED2( void );

void setup()
{
xTaskCreate(TaskLED1,"Blink1",128,NULL,1,NULL);
xTaskCreate(TaskLED2,"Blink2",128,NULL,2,NULL);
vTaskStartScheduler();
}
void loop()
{
// Empty. Things are done in Tasks.
}

void TaskLED1(void ) // This is a task.


{
pinMode(LEDpin1, OUTPUT);
for (;;)
{
digitalWrite(LEDpin1, HIGH); // turn the LED on
vTaskDelay( 50 ); // wait
digitalWrite(LEDpin1, LOW); // turn the LED off
vTaskDelay( 50 ); // wait
}
}

void TaskLED2(void ) // This is a task.


{
pinMode(LEDpin2, OUTPUT);
for (;;)
{
digitalWrite(LEDpin2, HIGH); // turn the LED on (HIGH is the voltage level)
vTaskDelay( 50 ); // wait for one second
digitalWrite(LEDpin2, LOW); // turn the LED off by making the voltage LOW
vTaskDelay( 50 ); // wait for one second
}
}
#include <Arduino_FreeRTOS.h>
int LEDpin1 = 12;
int LEDpin2 = 13;
void TaskLED1( void );
void TaskLED2( void );

void setup()
{
Serial.begin(9600);
Serial.println("In Setup function");
xTaskCreate(TaskLED1,"Blink1",128,NULL,2,NULL);
xTaskCreate(TaskLED2,"Blink2",128,NULL,1,NULL);
vTaskStartScheduler();
}
void loop()
{
// Empty. Things are done in Tasks.
}

void TaskLED1(void ) // This is a task.


{
pinMode(LEDpin1, OUTPUT);
Serial.println(" LED 1 Before");
for (;;)
{
Serial.println(" LED 1 After");
digitalWrite(LEDpin1, HIGH); // turn the LED on
vTaskDelay( 50 ); // wait
digitalWrite(LEDpin1, LOW); // turn the LED off
vTaskDelay( 50 ); // wait
}
}

void TaskLED2(void ) // This is a task.


{
pinMode(LEDpin2, OUTPUT);
Serial.println(" LED 2 Before");
for (;;)
{
Serial.println(" LED 2 After");
digitalWrite(LEDpin2, HIGH); // turn the LED on (HIGH is the voltage level)
vTaskDelay( 50 ); // wait for one second
digitalWrite(LEDpin2, LOW); // turn the LED off by making the voltage LOW
vTaskDelay( 50 ); // wait for one second
}
}
int LEDpin1 = 12;
int LEDpin2 = 13;
void TaskLED1(void);
void TaskLED2(void);

void setup() {
pinMode(LEDpin1, OUTPUT);
pinMode(LEDpin2, OUTPUT);
}

void loop() {
TaskLED1();
TaskLED2();
}
void TaskLED1(void) // This is a task.
{
digitalWrite(LEDpin1, HIGH); // turn the LED on (HIGH is the voltage level)
delay(500); // wait for one second
digitalWrite(LEDpin1, LOW); // turn the LED off by making the voltage LOW
delay(500); // wait for one second
}
void TaskLED2(void) // This is a task.
{
digitalWrite(LEDpin2, HIGH); // turn the LED on (HIGH is the voltage level)
delay(500);
digitalWrite(LEDpin2, LOW); // turn the LED off by making the voltage LOW
delay(500);
}
//LED interfacing using Interrupt Service Routine (ISR)
#define LED1 9
#define LED2 10
#define SW1 2
#define SW2 3
void toggle(byte pinNum)
{
byte pinState;
pinState= digitalRead(pinNum);
pinState=!pinState;
digitalWrite(pinNum, pinState);
}
void setup()
{
pinMode(LED1, OUTPUT);
pinMode(LED2, OUTPUT);
digitalWrite(LED1, LOW); // LED off
digitalWrite(LED2, LOW); // LED off
pinMode(SW1, INPUT);
pinMode(SW2, INPUT);
attachInterrupt(digitalPinToInterrupt(2), LEDISR0, LOW); // interrupt 0 digital pin 2 connected SW0
attachInterrupt(digitalPinToInterrupt(3), LEDISR1, RISING); // interrupt 1 digital pin 3 connected SW1
}
void loop()
{
// do nothing
}
// can't use delay(x) in IRQ routine
void LEDISR0()
{
toggle(LED1);
}

void LEDISR1()
{
toggle(LED2);
}
// Sharing serial commuication link between two tasks using Semaphore
#include <Arduino_FreeRTOS.h>
#include <semphr.h>
// Declare a mutex Semaphore Handle which we will use to manage the Serial Port.
// It will be used to ensure only only one Task is accessing this resource at any time.
SemaphoreHandle_t xSerialSemaphore;

// define two Tasks for DigitalRead & AnalogRead


void TaskDigitalRead( void *pvParameters );
void TaskAnalogRead( void *pvParameters );

void setup()
{
Serial.begin(9600);
if ( xSerialSemaphore == NULL ) // Check to confirm that the Serial Semaphore has not already been
created.
{
xSerialSemaphore = xSemaphoreCreateMutex(); // Create a mutex semaphore we will use to manage
the Serial Port
if ( ( xSerialSemaphore ) != NULL )
xSemaphoreGive( ( xSerialSemaphore ) ); // Make the Serial Port available for use, by "Giving" the
Semaphore.
}

// Now set up two Tasks to run independently.


xTaskCreate(TaskDigitalRead, "DigitalRead", 128, NULL, 2, NULL );
xTaskCreate(TaskAnalogRead, "AnalogRead", 128, NULL, 1, NULL );
// Now the Task scheduler, which takes over control of scheduling individual Tasks, is automatically
started.
}

void loop()
{
// Empty. Things are done in Tasks.
}

void TaskDigitalRead( void *pvParameters __attribute__((unused)) ) // This is a Task.


{/*DigitalReadSerial, Reads a digital input on pin 2, prints the result to the serial monitor */

uint8_t pushButton = 2; // digital pin 2 has a pushbutton attached to it.


pinMode(pushButton, INPUT);

for (;;)
{
int buttonState = digitalRead(pushButton);
// See if we can obtain or "Take" the Serial Semaphore.
// If the semaphore is not available, wait 5 ticks of the Scheduler to see if it becomes free.
if ( xSemaphoreTake( xSerialSemaphore, ( TickType_t ) 5 ) == pdTRUE )
{
Serial.println(buttonState);
xSemaphoreGive( xSerialSemaphore ); // Now free or "Give" the Serial Port for others.
}
vTaskDelay(1); // one tick delay (15ms) in between reads for stability
}
}
void TaskAnalogRead( void *pvParameters __attribute__((unused)) ) // This is a Task.
{

for (;;)
{// read the input on analog pin 0:
int sensorValue = analogRead(A0);

// See if we can obtain or "Take" the Serial Semaphore.


// If the semaphore is not available, wait 5 ticks of the Scheduler to see if it becomes free.
if ( xSemaphoreTake( xSerialSemaphore, ( TickType_t ) 5 ) == pdTRUE )
{
Serial.println(sensorValue);
xSemaphoreGive( xSerialSemaphore ); // Now free or "Give" the Serial Port for others.
}
vTaskDelay(1); // one tick delay (15ms) in between reads for stability
}
}
// This program creeates two tasks priority 1 and 2.
// It also creates an idle task is also created, which will be run when there are no tasks in RUN state

//#include <FreeRTOS.h>
#include<Arduino_FreeRTOS.h>
void setup()
{
Serial.begin(9600);
Serial.println("In Setup function")
/* Create three tasks with priorities 1 and 2 and IDLE. */
xTaskCreate(MyTask1, "Task1", 100, NULL, 1, NULL);
xTaskCreate(MyTask2, "Task2", 100, NULL, 2, NULL);
xTaskCreate(MyTask3, "Task3", 100, NULL, 2, NULL);
//xTaskCreate(MyIdleTask, "IdleTask", 100, NULL, 0, NULL);
}

void loop()
{
// DO nothing
}

/* Task2 with priority 2 */


static void MyTask2(void* pvParameters)
{
while(1)
{
Serial.println("Task 2");
vTaskDelay(250/portTICK_PERIOD_MS);
}
}

static void MyTask3(void* pvParameters)


{
while(1)
{
Serial.println("Task 3");
vTaskDelay(200/portTICK_PERIOD_MS);
}
}

/* Task1 with priority 1 */


static void MyTask1(void* pvParameters)
{
while(1)
{
Serial.println("Task 1");
vTaskDelay(200/portTICK_PERIOD_MS);
}
}
// This program demonstrates suspension and resuming of tasks

#include <Arduino_FreeRTOS.h>

TaskHandle_t TaskHandle_1; // Task handle of task 1


TaskHandle_t TaskHandle_2; // Task handle of task 2
TaskHandle_t TaskHandle_3; // Task handle of task 3

void setup()
{
Serial.begin(9600);
Serial.println("In Setup function");

/* Create 3-tasks with priorities 1-3. Capture the Task details to respective handlers */
xTaskCreate(MyTask1, "Task1", 100, NULL, 1, &TaskHandle_1); // It resumes all tasks and kill itself
xTaskCreate(MyTask2, "Task2", 100, NULL, 2, &TaskHandle_2); // It kill itself
xTaskCreate(MyTask3, "Task4", 100, NULL, 3, &TaskHandle_3); // It suspends task 2 and itself
}
void loop()
{
// Do nothing
}
/* Task1 with priority 1 */
static void MyTask1(void* pvParameters)
{
Serial.println("Task1 Running: and it Resumes Task2");
vTaskResume(TaskHandle_2);

Serial.println("Task1 Running: and it Resumes Task3");


vTaskResume(TaskHandle_3);

Serial.println("Task1 Running: and Deleting Itself");


vTaskDelete(TaskHandle_1);
}

/* Task2 with priority 2 */


static void MyTask2(void* pvParameters)
{
Serial.println("Task2 Running: and Deleting Itself");
vTaskDelete(NULL); //Delete own task by passing NULL(TaskHandle_2 can also be used)
}

/* Task3 with priority 3 */


static void MyTask3(void* pvParameters)
{
Serial.println("Task3 Running: and Suspending Task 2 and Itself");
vTaskSuspend(TaskHandle_2); //Suspend Task2
vTaskSuspend(NULL); //Suspend Own Task

Serial.println("Back in Task3: and Deleting Itself");


vTaskDelete(TaskHandle_3);
}
// This program creeates two tasks priority 1 and 2.

#include <Arduino_FreeRTOS.h>
void setup()
{
Serial.begin(9600);
Serial.println("In Setup function");
/* Create three tasks with priorities 1 and 2 */
xTaskCreate(MyTask1, "Task1", 100, NULL, 1, NULL);
xTaskCreate(MyTask2, "Task2", 100, NULL, 2, NULL);
}

void loop()
{
// DO nothing
}

/* Task1 with priority 1 */


static void MyTask1(void* pvParameters)
{
while(1)
{
Serial.println("Executing Task 1");
vTaskDelay(250/portTICK_PERIOD_MS);
}
}

/* Task2 with priority 2 */


static void MyTask2(void* pvParameters)
{
while(1)
{
Serial.println("Executing Task 2");
vTaskDelay(50/portTICK_PERIOD_MS);
}
}

/* Idle Task with priority Zero


static void MyIdleTask(void* pvParameters)
{
while(1)
{
Serial.println("Idle Task running: Task 1 & Task 2 in Block state");
delay(50);
}
}*/
// Without Semaphore
#include <Arduino_FreeRTOS.h>
#define LED 13
void setup()
{
Serial.begin(9600);
pinMode(LED ,OUTPUT);
xTaskCreate(LedOnTask, "LedON",100,NULL,1,NULL);
xTaskCreate(LedoffTask, "LedOFF", 100,NULL,1,NULL);
}

void loop(){}

void LedOnTask(void *pvParameters)


{
while(1)
{
Serial.println("Inside LedOnTask");
digitalWrite(LED,LOW);
vTaskDelay(1);
}
}

void LedoffTask(void *pvParameters)


{
while(1)
{
Serial.println("Inside LedOffTask");
digitalWrite(LED,HIGH);
vTaskDelay(1);
}
}
//With Semaphore
#include <Arduino_FreeRTOS.h>
#include "semphr.h"
#define LED 13
SemaphoreHandle_t xBinarySemaphore;
void setup()
{
Serial.begin(9600);
pinMode(LED ,OUTPUT);
xBinarySemaphore = xSemaphoreCreateBinary();
xTaskCreate(LedOnTask, "LedON",100,NULL,1,NULL);
xTaskCreate(LedoffTask, "LedOFF", 100,NULL,1,NULL);
xSemaphoreGive(xBinarySemaphore);
}

void loop(){}

void LedOnTask(void *pvParameters)


{
while(1)
{
xSemaphoreTake(xBinarySemaphore,portMAX_DELAY);
Serial.println("Inside LedOnTask");
digitalWrite(LED,LOW);
xSemaphoreGive(xBinarySemaphore);
vTaskDelay(1);
}
}

void LedoffTask(void *pvParameters)


{
while(1)
{
xSemaphoreTake(xBinarySemaphore,portMAX_DELAY);
Serial.println("Inside LedOffTask");
digitalWrite(LED,HIGH);
xSemaphoreGive(xBinarySemaphore);
vTaskDelay(1);
}
}

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