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libraries/FreeRTOS/examples/StructArray/StructArray.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 Structure Array
+struct Arduino{
+  int pin[2];
+  int ReadValue[2];
+};
+
+//Function Declaration
+void Blink(void *pvParameters);
+void POT(void *pvParameters);
+void TaskSerial(void *pvParameters);
+
+/* 
+ * Declaring a global variable of type QueueHandle_t 
+ * 
+ */
+QueueHandle_t structArrayQueue;
+
+void setup() {
+
+  /**
+   * Create a queue.
+   * https://www.freertos.org/a00116.html
+   */
+structArrayQueue=xQueueCreate(10, //Queue length
+                              sizeof(struct Arduino)); //Queue item size
+                              
+if(structArrayQueue!=NULL){
+
+  
+  xTaskCreate(TaskBlink,  // Task function
+              "Blink",// Task name
+              128,// Stack size 
+              NULL,
+              0,// Priority
+              NULL);
+ 
+ // Create other task that publish data in the queue if it was created.
+  xTaskCreate(POT,// Task function
+              "AnalogRead",// Task name
+              128,  // Stack size
+              NULL,
+              2,// Priority
+              NULL);
+
+   // Create task that consumes the queue if it was created.
+   xTaskCreate(TaskSerial,// Task function
+              "PrintSerial",// A name just for humans
+              128,// This stack size can be checked & adjusted by reading the Stack Highwater
+              NULL,
+              1, // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
+              NULL);
+}
+}
+
+void loop() {}
+
+/* 
+ * Blink task. 
+ * See Blink_AnalogRead example. 
+ */
+void TaskBlink(void *pvParameters){
+  (void) pvParameters;
+  
+  pinMode(13,OUTPUT);
+  
+  digitalWrite(13,LOW);
+  
+  for(;;)
+  {
+    digitalWrite(13,HIGH);
+    vTaskDelay(250/portTICK_PERIOD_MS);
+    digitalWrite(13,LOW);
+    vTaskDelay(250/portTICK_PERIOD_MS);
+  }
+}
+
+/**
+ * Analog read task for Pin A0 and A1
+ * Reads an analog input on pin 0 and pin 1 
+ * Send the readed value through the queue.
+ * See Blink_AnalogRead example.
+ */
+void POT(void *pvParameters){
+  (void) pvParameters;
+  pinMode(A0,INPUT);
+  pinMode(A1,INPUT);
+  for (;;){
+  // Read the input on analog pin 0:
+  struct Arduino currentVariable;
+  currentVariable.pin[0]=0;
+  currentVariable.pin[1]=1;
+  currentVariable.ReadValue[0]=analogRead(A0);
+  currentVariable.ReadValue[1]=analogRead(A1);  
+
+  /**
+    * Post an item on a queue.
+    * https://www.freertos.org/a00117.html
+    */
+  xQueueSend(structArrayQueue,&currentVariable,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 Arduino currentVariable;
+
+   /**
+     * Read an item from a queue.
+     * https://www.freertos.org/a00118.html
+     */
+    if(xQueueReceive(structArrayQueue,&currentVariable,portMAX_DELAY) == pdPASS ){
+      for(int i=0;i<2;i++){
+      Serial.print("PIN:");
+      Serial.println(currentVariable.pin[i]);
+      Serial.print("value:");
+      Serial.println(currentVariable.ReadValue[i]);
+      }
+    }
+    vTaskDelay(500/portTICK_PERIOD_MS);
+  }
+}