1 多并行任务创建
#if CONFIG_FREERTOS_UNICORE
#define ARDUINO_RUNNING_CORE 0
#else
#define ARDUINO_RUNNING_CORE 1
#endif
/*
FreeRTOS任务优先级：任务优先级数值越小，任务优先级越低。
一、 FreeRTOS 中任务的最高优先级是通过 FreeRTOSConfig.h 文件中的 configMAX_PRIORITIES 进行
配置的，用户实际可以使用的优先级范围是 0 到 configMAX_PRIORITIES – 1。比如我们配置此宏定
义为 5，那么用户可以使用的优先级号是 0,1,2,3,4，不包含 5。
二、用户配置任务的优先级数值越小，那么此任务的优先级越低，空闲任务的优先级是 0。
三、用户配置宏定义 configMAX_PRIORITIES 的最大值不要超过 32，即用户任务可以使用的优先级
范围是0到31
*/
// define two tasks for Blink & AnalogRead
void TaskBlink( void *pvParameters );
void TaskAnalogReadA3( 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:
USBSerial.begin(115200);
// Now set up two tasks to run independently.
xTaskCreatePinnedToCore(
TaskBlink
, "TaskBlink" // A name just for humans
, 1024 // This stack size can be checked & adjusted by reading the Stack Highwater
, NULL
, 2 // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
, NULL
, ARDUINO_RUNNING_CORE);
xTaskCreatePinnedToCore(
TaskAnalogReadA3
, "AnalogReadA3"
, 1024 // Stack size
, NULL
, 1 // Priority
, 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 TaskBlink(void *pvParameters) // This is a task.
{
(void) pvParameters;
/*
Blink
Turns on an LED on for one second, then off for one second, repeatedly.
If you want to know what pin the on-board LED is connected to on your ESP32 model, check
the Technical Specs of your board.
*/
// initialize digital LED_BUILTIN on pin 13 as an output.
pinMode(45, OUTPUT);
for (;;) // A Task shall never return or exit.
{
digitalWrite(45, HIGH); // turn the LED on (HIGH is the voltage level)
vTaskDelay(100); // one tick delay (15ms) in between reads for stability
digitalWrite(45, LOW); // turn the LED off by making the voltage LOW
vTaskDelay(100); // one tick delay (15ms) in between reads for stability
}
}
void TaskAnalogReadA3(void *pvParameters) // This is a task.
{
(void) pvParameters;
/*
AnalogReadSerial
Reads an analog input on pin A3, prints the result to the serial monitor.
Graphical representation is available using serial plotter (Tools > Serial Plotter menu)
Attach the center pin of a potentiometer to pin A3, and the outside pins to +5V and ground.
This example code is in the public domain.
*/
for (;;)
{
// read the input on analog pin A3:
int sensorValueA3 = analogRead(A3);
// print out the value you read:
USBSerial.print("A3->");
USBSerial.println(sensorValueA3);
vTaskDelay(100); // one tick delay (15ms) in between reads for stability
}
}
2 基于多核并行任务创建
/*
// 多线程基于FreeRTOS，可以多个任务并行处理；
// ESP32具有两个32位Tensilica Xtensa LX6微处理器；
// 实际上我们用Arduino进行编程时只使用到了第一个核（大核），第0核并没有使用
// 多线程可以指定在那个核运行；
*/
#include <Arduino.h>
#define USE_MULTCORE 1
void xTaskOne(void *xTask1)
{
while (1)
{
USBSerial.printf("Task1 \r\n");
delay(500);
}
}
void xTaskTwo(void *xTask2)
{
while (1)
{
USBSerial.printf("Task2 \r\n");
delay(1000);
}
}
void setup()
{
USBSerial.begin(115200);
delay(10);
}
void loop()
{
#if !USE_MULTCORE
xTaskCreate(
xTaskOne, /* Task function. */
"TaskOne", /* String with name of task. */
4096, /* Stack size in bytes. */
NULL, /* Parameter passed as input of the task */
1, /* Priority of the task.(configMAX_PRIORITIES - 1 being the highest, and 0 being the lowest.) */
NULL); /* Task handle. */
xTaskCreate(
xTaskTwo, /* Task function. */
"TaskTwo", /* String with name of task. */
4096, /* Stack size in bytes. */
NULL, /* Parameter passed as input of the task */
2, /* Priority of the task.(configMAX_PRIORITIES - 1 being the highest, and 0 being the lowest.) */
NULL); /* Task handle. */
#else
//最后一个参数至关重要，决定这个任务创建在哪个核上.PRO_CPU 为 0, APP_CPU 为 1,或者 tskNO_AFFINITY 允许任务在两者上运行.
xTaskCreatePinnedToCore(xTaskOne, "TaskOne", 4096, NULL, 1, NULL, 0);
xTaskCreatePinnedToCore(xTaskTwo, "TaskTwo", 4096, NULL, 2, NULL, 1);
#endif
while (1)
{
Serial.printf("XTask is running\r\n");
delay(1000);
}
}
