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libraries/FreeRTOS/examples/ArrayQueue/ArrayQueue.ino

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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 Array
+int pinReadArray[4]={0,0,0,0};
+
+//Function Declaration
+void TaskBlink(void *pvParameters);
+void TaskAnalogReadPin0(void *pvParameters);
+void TaskAnalogReadPin1(void *pvParameters);
+void TaskSerial(void *pvParameters);
+
+/* 
+ * Declaring a global variable of type QueueHandle_t 
+ * 
+ */
+QueueHandle_t arrayQueue;
+
+void setup() {
+
+ /**
+   * Create a queue.
+   * https://www.freertos.org/a00116.html
+   */
+arrayQueue=xQueueCreate(10, //Queue length
+                        sizeof(int)); //Queue item size
+if(arrayQueue!=NULL){
+
+  // Create task that consumes the queue if it was created.
+  xTaskCreate(TaskSerial,// Task function
+              "PrintSerial",// Task name
+              128,// Stack size 
+              NULL,
+              2,// Priority
+              NULL);
+
+  // Create task that publish data in the queue if it was created.
+  xTaskCreate(TaskAnalogReadPin0, // Task function
+              "AnalogRead1",// 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
+              "AnalogRead2",// 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 (;;){
+  pinReadArray[0]=0;
+  pinReadArray[1]=analogRead(A0);
+  /**
+     * Post an item on a queue.
+     * https://www.freertos.org/a00117.html
+     */
+  xQueueSend(arrayQueue,&pinReadArray,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 (;;){
+  pinReadArray[2]=1;
+  pinReadArray[3]=analogRead(A1);
+  /**
+     * Post an item on a queue.
+     * https://www.freertos.org/a00117.html
+     */
+  xQueueSend(arrayQueue,&pinReadArray,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 (;;){
+    if(xQueueReceive(arrayQueue,&pinReadArray,portMAX_DELAY) == pdPASS ){
+      Serial.print("PIN:");
+      Serial.println(pinReadArray[0]);
+      Serial.print("value:");
+      Serial.println(pinReadArray[1]);
+      Serial.print("PIN:");
+      Serial.println(pinReadArray[2]);
+      Serial.print("value:");
+      Serial.println(pinReadArray[3]);
+      vTaskDelay(500/portTICK_PERIOD_MS);
+    }
+  }
+}
+
+/* 
+ * Blink task. 
+ * See Blink_AnalogRead example. 
+ */
+void TaskBlink(void *pvParameters){
+  (void) pvParameters;
+  pinMode(LED_BUILTIN,OUTPUT);
+  digitalWrite(LED_BUILTIN,LOW);
+  for (;;){
+    digitalWrite(LED_BUILTIN,HIGH);
+    vTaskDelay(250/portTICK_PERIOD_MS);
+    digitalWrite(LED_BUILTIN,LOW);
+    vTaskDelay(250/portTICK_PERIOD_MS);
+  }
+}