Занимательная электроника

#include <Arduino_FreeRTOS.h>

TaskHandle_t TaskHandle_1;
TaskHandle_t TaskHandle_2;
TaskHandle_t TaskHandle_4;

void setup()
{
Serial.begin(9600);
Serial.println(F(«In Setup function»));

/* Create three tasks with priorities 1,2 and 3. Capture the Task details to respective handlers */
xTaskCreate(MyTask1, «Task1», 120, NULL, 1, &TaskHandle_1);
}

void loop()
{
// put your main code here, to run repeatedly:
Serial.println(F(«Loop function»));
delay(50);
}

/* Task1 with priority 1 */
static void MyTask1(void* pvParameters)
{
while(1)
{
Serial.print(F(«Task1 with Priority:»));
Serial.print(uxTaskPriorityGet(TaskHandle_1));
Serial.println(F(» Creating Task2″));

xTaskCreate(MyTask2, «Task2», 100, NULL, 3, &TaskHandle_2);

Serial.print(F(«Task1 with Priority:»));
Serial.print(uxTaskPriorityGet(TaskHandle_1));
Serial.println(F(» Deleting All»));
vTaskDelete(TaskHandle_2); // Delete task2 and task4 using their handles
vTaskDelete(TaskHandle_4);
vTaskDelete(TaskHandle_1); // Delete the task using the TaskHandle_1
}
}

/* Task2 with priority 2 */
static void MyTask2(void* pvParameters)
{
while(1)
{
Serial.println(F(«Task2 Running, Creating Task4»));
xTaskCreate(MyTask4, «Task4», 100, NULL, 4, &TaskHandle_4);

Serial.println(F(«Back in Task2, Deleting itself»));
vTaskDelete(NULL); //Delete own task by passing NULL(TaskHandle_2 can also be used)
}
}

/* Task4 with priority 4 */
static void MyTask4(void* pvParameters)
{
Serial.println(F(«Task4 Running, Changing Priority of Task1 from 1-3»));
vTaskPrioritySet(TaskHandle_1,3); //Change the priority of task1 to 3 which is greater than task2

while(1)
{
Serial.println(F(«Back in Task4 «));
vTaskDelay(100/portTICK_PERIOD_MS);
}
}