Tutorial 1: Creating Tasks in FreeRTOS

#include <Arduino_FreeRTOS.h>
void setup()
//Initialize the Serial Monitor with 9600 baud rate
{
Serial.begin(9600);
Serial.println(F("In Setup function"));
//Set the digital pins 8 to 11 as digital output pins
  pinMode(8,OUTPUT);
  pinMode(9,OUTPUT);
  pinMode(10,OUTPUT);
  pinMode(11,OUTPUT);

//Create three tasks with labels Task1, Task2 and Task3 and assign the priority as 1, 2 and 3 respectively. 
//We also create the fourth task labeled as IdelTask when there is no task in 
//operation and it has the highest priority.

 xTaskCreate(MyTask1, "Task1", 100, NULL, 1, NULL);
 xTaskCreate(MyTask2, "Task2", 100, NULL, 2, NULL);
 xTaskCreate(MyTask3, "Task3", 100, NULL, 3, NULL);
 xTaskCreate(MyIdleTask, "IdleTask", 100, NULL, 0, NULL);}

//We can change the priority of task according to our desire by changing the numeric’s //between NULL texts.

void loop()

{
//There is no instruction in the loop section of the code.
// Because each task executes on interrupt after specified time
}

//The following function is Task1. We display the task label on Serial monitor.

static void MyTask1(void* pvParameters)
{
 
  while(1)

  { 
    digitalWrite(8,HIGH);

    digitalWrite(9,LOW); 

    digitalWrite(10,LOW);

    digitalWrite(11,LOW); 

    Serial.println(F("Task1"));

    vTaskDelay(100/portTICK_PERIOD_MS);
  }
}

//Similarly this is task 2

static void MyTask2(void* pvParameters)

{  
while(1)

  { digitalWrite(8,LOW);
    digitalWrite(9,HIGH); 
    digitalWrite(10,LOW);
    digitalWrite(11,LOW);   
    Serial.println(F("Task2"));
    vTaskDelay(110/portTICK_PERIOD_MS);
  }
}

//Similarly this is task 3

static void MyTask3(void* pvParameters)
{ 
while(1)
  { 
   digitalWrite(8,LOW);
   digitalWrite(9,LOW); 
   digitalWrite(10,HIGH);
   digitalWrite(11,LOW);
   Serial.println(F("Task3"));
   vTaskDelay(120/portTICK_PERIOD_MS);
  }
}

//This is the idle task which has the most higher priority and calls when no task is running.

static void MyIdleTask(void* pvParameters)

{
  while(1)
   { 
    digitalWrite(8,LOW);
    digitalWrite(9,LOW); 
    digitalWrite(10,LOW);
    digitalWrite(11,HIGH);
    Serial.println(F("Idle state"));
    delay(50);
  }  
}