IoT を使ってみる（その１１：FreeRTOSタスク優先度編）

#if CONFIG_FREERTOS_UNICORE
#define ARDUINO_RUNNING_CORE 0
#else
#define ARDUINO_RUNNING_CORE 1
#endif

#ifndef LED_BUILTIN
#define LED_BUILTIN 13
#endif

// 変更する値
#define PRI_HIGH  2 // タスクHIGHの優先度
#define PRI_LOW  2  // タスクLOWの優先度
#define TASK_DELAY  1000 // タスクの待ち時間

// define two tasks for Blink & AnalogRead
void Task_BlinkHigh( void *pvParameters );
void Task_BlinkLow( void *pvParameters );

// the setup function runs once when you press reset or power the board
void setup() {
  
  // initialize serial communication at 115200 bits per second:
  Serial.begin(115200);

  // initialize digital LED_BUILTIN on pin 13 as an output.
  pinMode(LED_BUILTIN, OUTPUT);
  
  // Now set up two tasks to run independently.
  xTaskCreatePinnedToCore(
    Task_BlinkHigh
    ,  "Task_BlinkHigh"   // A name just for humans
    ,  1024  // This stack size can be checked & adjusted by reading the Stack Highwater
    ,  NULL
    ,  PRI_HIGH  // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
    ,  NULL 
    ,  ARDUINO_RUNNING_CORE);

  xTaskCreatePinnedToCore(
    Task_BlinkLow
    ,  "Task_BlinkLow"   // A name just for humans
    ,  1024  // This stack size can be checked & adjusted by reading the Stack Highwater
    ,  NULL
    ,  PRI_LOW  // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
    ,  NULL 
    ,  ARDUINO_RUNNING_CORE);

  // Now the task scheduler, which takes over control of scheduling individual tasks, is automatically started.
}

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

/*--------------------------------------------------*/
/*---------------------- Tasks ---------------------*/
/*--------------------------------------------------*/

void Task_BlinkHigh(void *pvParameters)  // This is a task.
{
  (void) pvParameters;
  
  for (;;) // A Task shall never return or exit.
  {
    digitalWrite(LED_BUILTIN, HIGH);   // turn the LED on (HIGH is the voltage level)
    Serial.println("HIGH");
    vTaskDelay(TASK_DELAY);  // one tick delay (15ms) in between reads for stability
  }
}

void Task_BlinkLow(void *pvParameters)  // This is a task.
{
  (void) pvParameters;

  for (;;) // A Task shall never return or exit.
  {
    digitalWrite(LED_BUILTIN, LOW);    // turn the LED off by making the voltage LOW
    Serial.println("LOW");
    vTaskDelay(TASK_DELAY);  // one tick delay (15ms) in between reads for stability
  }
}

#define PRI_HIGH  2 // タスクHIGHの優先度
#define PRI_LOW  2  // タスクLOWの優先度

#define PRI_HIGH  2 // タスクHIGHの優先度
#define PRI_LOW  1  // タスクLOWの優先度

#define PRI_HIGH  2 // タスクHIGHの優先度
#define PRI_LOW  0  // タスクLOWの優先度

#define PRI_HIGH  0 // タスクHIGHの優先度
#define PRI_LOW  0  // タスクLOWの優先度