공부/arduino2018.04.12 16:56

ESP32의  "Arduino.h"  의 내용을 살펴보면

기본적으로 아래의 내용이 포함되어 있었다.

 

#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"

 

즉 freertos 를 사용할수 있는 것이다.

테스트를 진행 했다.

 

#include "Arduino.h"
#include <Wire.h>
#include <SPI.h>

 

#include "ASCFont.h"
#include "KSFont.h"

 

#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>

 

#define OLED_PCLK     18
#define OLED_PDATA    23
#define OLED_PRESET   17
#define OLED_PCMD     16
#define OLED_PCS     5

#define LED 2
 

//----- FreeRtos
QueueHandle_t queue;
int queueSize = 10;

 

QueueHandle_t xQueue;

 

typedef struct{
  int sender;
  int counter;
}Data;

// 세마포어 핸들을 선언합니다.->선언될때만 TASK 실행
SemaphoreHandle_t sem;

//The setup function is called once at startup of the sketch
void setup()
{
 // Add your initialization code here
 pinMode(LED, OUTPUT);

 Serial.begin(115200);
 delay(10);

 //---------------------------------
 Serial.println("Start..");

 

 //Free Rtos Q Set
 queue = xQueueCreate( queueSize, sizeof( int ) );

 if(queue == NULL){
   Serial.println("Error creating the queue");
 }

 

 xQueue = xQueueCreate(5, sizeof(Data));

 if(xQueue == NULL){
   Serial.println("Error creating the queue");
 }

 

 //세마포어를 초기화 합니다. 세마포어는 동시에 1개만 생성됩니다.
 sem = xSemaphoreCreateCounting(1, 0);

 


 //Free Rtos Task Set
 xTaskCreate(
     taskOne,          /* Task function. */
     "TaskOne",        /* String with name of task. */
     1024,            /* Stack size in words. 10000->1024*/
     NULL,             /* Parameter passed as input of the task */
     1,                /* Priority of the task. */
     NULL);            /* Task handle. */

 

 xTaskCreate(
     taskTwo,          /* Task function. */
     "TaskTwo",        /* String with name of task. */
     1024,            /* Stack size in words. */
     NULL,             /* Parameter passed as input of the task */
     1,                /* Priority of the task. */
     NULL);            /* Task handle. */

 

 xTaskCreate(
     taskSAM,          /* Task function. */
     "taskSAM",        /* String with name of task. */
     1024,            /* Stack size in words. */
     NULL,             /* Parameter passed as input of the task */
     1,                /* Priority of the task. */
     NULL);            /* Task handle. */

 

}

// The loop function is called in an endless loop
void loop()
{
 delay(1000);

}

 

void taskOne( void * parameter )
{
  /* keep the status of sending data */
 BaseType_t xStatus;
 /* time to block the task until the queue has free space */
 const TickType_t xTicksToWait = pdMS_TO_TICKS(100);

 /* create data to send */
 Data data;

 /* sender 1 has id is 1 */
 data.sender = 1;
 data.counter = 1;

 for(;;){
  for( int i = 0;i<10;i++ ){

   Serial.println("Hello from task 1");
   digitalWrite(LED, 1);
   //digitalWrite(LED, 0);

   xQueueSend(queue, &i, portMAX_DELAY);

      xStatus = xQueueSendToFront( xQueue, &data, xTicksToWait );
      /* check whether sending is ok or not */
      if( xStatus == pdPASS ) {
        /* increase counter of sender 1 */
        data.counter = data.counter + 1;
      }

   delay(1000);
  }
 }
    Serial.println("Ending task 1");
    vTaskDelete( NULL );

}

 

void taskTwo( void * parameter)
{
 /* keep the status of receiving data */
 BaseType_t xStatus;
 /* time to block the task until data is available */
 const TickType_t xTicksToWait = pdMS_TO_TICKS(100);
 Data data;

 int element;

 for(;;){
  for( int i = 0;i<10;i++ ){

   xQueueReceive(queue, &element, portMAX_DELAY);
   Serial.print(element);
   Serial.print(" -> ");

      /* receive data from the queue */
      xStatus = xQueueReceive( xQueue, &data, xTicksToWait );
      /* check whether receiving is ok or not */
      if(xStatus == pdPASS){
        /* print the data to terminal */
        Serial.print("receiveTask got data: ");
        Serial.print("sender = ");
        Serial.print(data.sender);
        Serial.print(" counter = ");
        Serial.println(data.counter);
      }

   Serial.println("Hello from task 2");
   delay(1000);


  }
 }
    Serial.println("Ending task 2");
    vTaskDelete( NULL );

}

void taskSAM( void * parameter)
{
   while (1) {

     //세마포어를 받을때까지 스레드는 계속 기다리게 됩니다.
     xSemaphoreTake(sem, portMAX_DELAY);

     Serial.println(">>> Semaphore Run!");

   }

}

 

 

 

 

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