初めてのRTOS (freeRTOS)

VSCodeでWokwi,PlatformIOを使用し、シミュレータのみで実機も無しにESP32でのRT-OSを動作させた。

Arduino IDEと同じ。

動作させたマシンはManjaro Linux
関係ないけど、WMは i3

_1strtos_9C25.cpp

#include <Arduino.h>

// vvv ArduinoIDEでは↓は記述する必要は無いが明示的に書いておく
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <freertos/queue.h>

const int BUTTON_PIN = 4; // ボタン/入力に使用するピン (GPIO4)ニャ
const int LED_PIN = 2;    // LED/出力に使用するピン (GPIO2)ニャ

TaskHandle_t    sw_tskh ;
TaskHandle_t    led_tskh ;
QueueHandle_t sw_q ;

// ↓Arduino IDEだが、ESP32ではプロトタイプ宣言がないとcompile errorになった
void led_taskf(void *parameter);
void warikomi_go();

void setup() {

  pinMode(LED_PIN, OUTPUT);
  pinMode(BUTTON_PIN, INPUT);

  xTaskCreate(
    led_taskf , //function
    "tact sw input task", 
    1024 , 
    NULL, // parameter
    12, 
    &led_tskh
  );
 
  sw_q = xQueueCreate(1, sizeof(byte));

  warikomi_go() ;
  Serial.begin(115200); // シリアル通信を開始し、ボーレートを設定
  Serial.println("Hello, World! from ESP32 WROVER"); // 文字列をシリアルポートに出力
}

const byte nandemo_ok = 0 ; //代入しないとCRASHする

//kes uint32_t lcome = 0 ;
void IRAM_ATTR sw_warikomif() {
//  if( millis() < lcome )return ;
//  lcome = millis() + 100 ;

  BaseType_t changeTask_to_sentQ_ifUcan = pdFALSE; // 初期値を代入しないとCRASHする
  detachInterrupt(digitalPinToInterrupt(BUTTON_PIN));//一旦 割り込み禁止
 //割り込みからこれは使用できない --> xQueueSend(led_taskh, nandemo_ok, 0) ;//queueがfullでも何もしない
 // ^^^ 0 queueがfullの時、1回だけその時間待機する。0ならすぐ帰る

  xQueueSendFromISR(sw_q,&nandemo_ok,&changeTask_to_sentQ_ifUcan);
}

void warikomi_go()
{ //  割り込みON
  attachInterrupt(digitalPinToInterrupt(BUTTON_PIN), sw_warikomif, FALLING);
}

int couter ;

void led_taskf(void *parameter)
{
  byte leds = 1 ,ledb = 0;
  byte qrcv ;
  byte hc = 0 ;
  while( true )
  {
    //    vTaskDelay(pdMS_TO_TICKS(1000));
    if (xQueueReceive(sw_q, &qrcv, 222) == pdPASS) 
    {
      leds = 1-leds ;
      Serial.printf("Switch led mode %d %d\n",leds,couter++);
      ledb = 1 ;
      hc = 3 ; // 222msec x 3
    }else{
      ledb = 1-ledb ;
    }
      // 受信成功ニャ
    if( !leds )
    {
      ledb = 0 ; //消灯
    }
    
    while( hc && digitalRead(BUTTON_PIN) )
    {
      hc -- ;
      if( hc )break ;
      warikomi_go() ; //割り込み ON
      break ;
    }

    digitalWrite(LED_PIN , ledb );
  }//...while - true 
}

void loop() {
  delay(100);
  vTaskDelete(NULL); // 自身をKILL
}

/*
LED1赤GPIO2
LED2緑GPIO15
スイッチ1青GPIO4
スイッチ2赤GPIO5
*/

接続は↓

diagram.json

{
  "version": 1,
  "author": "Your Name",
  "editor": "wokwi",
  "parts": [
    {
      "type": "wokwi-esp32-devkit-v1",
      "id": "esp",
      "top": 0,
      "left": 0,
      "attrs": {}
    },
    {
      "type": "wokwi-led",
      "id": "led1",
      "top": 172.8,
      "left": 230.6,
      "rotate": 180,
      "attrs": {
        "color": "red"
      }
    },
    {
      "type": "wokwi-resistor",
      "id": "r1",
      "top": 191.95,
      "left": 211.2,
      "rotate": 270,
      "attrs": {
        "value": "220"
      }
    },
    {
      "type": "wokwi-led",
      "id": "led2",
      "top": 134.4,
      "left": 230.6,
      "rotate": 180,
      "attrs": {
        "color": "green"
      }
    },
    {
      "type": "wokwi-resistor",
      "id": "r3",
      "top": 153.55,
      "left": 211.2,
      "rotate": 270,
      "attrs": {
        "value": "220"
      }
    },
    {
      "type": "wokwi-pushbutton",
      "id": "btn1",
      "top": 67.2,
      "left": 230.4,
      "rotate": 270,
      "attrs": {
        "color": "blue"
      }
    },
    {
      "type": "wokwi-resistor",
      "id": "r2",
      "top": 19.25,
      "left": 240,
      "rotate": 90,
      "attrs": {
        "value": "10000"
      }
    },
    {
      "type": "wokwi-pushbutton",
      "id": "btn2",
      "top": 28.8,
      "left": 230.4,
      "rotate": 270,
      "attrs": {
        "color": "red"
      }
    },
    {
      "type": "wokwi-resistor",
      "id": "r4",
      "top": -19.15,
      "left": 240,
      "rotate": 90,
      "attrs": {
        "value": "10000"
      }
    }
  ],
  "connections": [
    ["esp:TX0", "$serialMonitor:RX", "", []],
    ["esp:RX0", "$serialMonitor:TX", "", []],
    ["led1:A", "r1:1", "green", ["v0"]],
    ["r1:2", "esp:D2", "green", ["h0"]],
    ["led1:C", "esp:GND.1", "black", ["v0"]],
    ["led2:A", "r3:1", "green", ["v0"]],
    ["r3:2", "esp:D15", "green", ["h0"]],
    ["led2:C", "esp:GND.1", "black", ["v0"]],
    ["btn1:1.l", "esp:D4", "green", ["h0"]],
    ["btn1:2.l", "esp:GND.2", "black", ["h0"]],
    ["btn1:1.r", "r2:1", "red", ["h0"]],
    ["r2:2", "esp:3V3", "red", ["h0"]],
    ["btn2:1.l", "esp:D5", "green", ["h0"]],
    ["btn2:2.l", "esp:GND.2", "black", ["h0"]],
    ["btn2:1.r", "r4:1", "red", ["h0"]],
    ["r4:2", "esp:3V3", "red", ["h0"]]
  ]
}

platformio.ini

[env:esp32dev]
platform = espressif32
board = esp32dev
framework = arduino

wokwi.toml

[wokwi]
version = 1
firmware = ".pio/build/esp32dev/firmware.bin"
elf = ".pio/build/esp32dev/firmware.elf"