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freertos

多任务

#include "FreeRTOSConfig.h" //freertos相关配置
#include "FreeRTOS.h" //相关api
QueueHandle_t ui_queue;//ui task的消息队列
typedef struct 
{
	int a;
	int b;
}ui_msg_t;
void my_task(void *p)
{
	while(1)
	{
		vTaskDelay(1000 / portTICK_PERIOD_MS);
	}
}

void ui_task_init(void)
{
	ui_queue = xQueueCreate( 10, sizeof( ui_msg_t ) );
	
  	if( ui_queue == 0 )
  	{
  		// Failed to create the queue.
  		Serial.print("Failed to create the ui_queue. ");
  		while(1);
  	}
}
void sendmsg2_ui_task(ui_msg_t *msg)//给ui task发送消息
{
	
	 if( ui_queue != 0 )
   {
       // Send an uint32_t.  Wait for 10 ticks for space to become
       // available if necessary.
       if( xQueueSend( ui_queue, msg,( TickType_t ) 10 ) != pdPASS )
       {
           // Failed to post the message, even after 10 ticks.
           Serial.println("send fail");
       }
   }
}
void ui_task(void * p)
{
	ui_msg_t ui_msg;
	while(1)
	{
	if( xQueueReceive( ui_queue, &( ui_msg ),portMAX_DELAY) )
 		{
 			//your code
		}	
	}
}
xTaskCreate(
				  my_task, 		 /*任务函数*/
				  "my_task",		 /*带任务名称的字符串*/
				  20000,			/*堆栈大小，单位为字节*/
				  NULL, 			/*作为任务输入传递的参数*/
				  6,				/*任务的优先级*/
				  NULL); 		 //TaskHandle_t *

xTaskCreate(
             ui_task,          /*任务函数*/
            "ui_task",        /*带任务名称的字符串*/
             10000,            /*堆栈大小，单位为字节*/
             NULL,             /*作为任务输入传递的参数*/
             5,                /*任务的优先级*/
             NULL);

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