Purpose:
利用Mega2560的FreeRTOS library架構成多工的系統, 並利用serial monitor去執行指令, 控制Relay Board Module動作.
This project shows how to Use the FreeRTOS library architecture of Mega2560 to build a multi-task system, and use the serial monitor to execute instructions and control the actions of the Relay Board Module.
Figure 1 : Function Connection
Fundamental:
Mega2560:
Microcontroller boards like the "Arduino Mega" rely on the ATmega2560 microcontroller. It includes 54 digital input/output pins, of which 16 are analog inputs, 14 are used as PWM outputs, hardware serial port (UART) - 4, crystal oscillator - 16MHz, one ICSP header, one power supply jack, a USB connection, and the RST button. This board basically contains everything needed to support a microcontroller. Therefore, the board can be powered by connecting it to a PC via a USB cable, battery, or AC-DC adapter. By installing a backplane, the board can be protected from accidental discharges.
Figure 2 : Mega2560 Board
Figure 3 : Mega2560 Board Pin Definition
Figure 4 : Mega2560 Board Pin Function
Figure 5 : Mega2560 Board Circuit
FreeRTOS:
FreeRTOS is a class of RTOS that is designed to be small enough to run on a microcontroller – although its use is not limited to microcontroller applications. FreeRTOS includes a kernel and a growing set of software libraries suitable for use across industry sectors and applications. With the help of FreeRTOS, you can do multitasking on a microcontroller based hardware!
The FreeRTOS can be very powerful by providing the microcontroller real time scheduling functionality, inter-task communication, timing and synchronization primitives.
For Arduino compatibility, we have ported FreeRTOS into the Arduino framework so that you are able to use FreeRTOS with your favorite Arduino boards.
Circuit:
Code Introduce:
#include <Arduino_FreeRTOS.h>
//---------------structure ----------------------------------------
//--------- Flag structure --------------------------------------
typedef struct _vFlag
{
uint8_t LEDFlag=1;
uint8_t BTFlag = 0;
uint8_t ServoFlag = 0;
} vFlag;
vFlag *flag_Ptr;
vFlag flag;
//----------uart--------------
#define LINE_BUFFER_LENGTH 64
//--------- uart structure --------------------------------------
typedef struct _vUart
{
char c;
int lineIndex = 0;
int line1Index = 0;
int BTlineIndex = 0;
bool lineIsComment;
bool lineSemiColon;
char line[128];
char BTline[20];
String inputString;
String BTinputString;
String S1inputString;
int V[16];
char ctemp[30];
char I2C_Data[80];
int DC_Spped = 50;
float Voltage[16];
int Buffer[128];
int StartCnt = 0;
int ReadCnt = 0;
int sensorValue = 0;
} vUart;
vUart *Uart_Ptr;
vUart Uart;
//------------------------------------------------
const uint8_t LED_PIN = 13;
//----relay--------
uint8_t DIO_1 = 22;
uint8_t DIO_2 = 24;
uint8_t DIO_3 = 26;
uint8_t DIO_4 = 28;
uint8_t DIO_5 = 30;
uint8_t DIO_6 = 32;
uint8_t DIO_7 = 34;
uint8_t DIO_8 = 36;
//-------------------------------------------
char ctemp[20];
//------------------------------
TaskHandle_t hled;
TaskHandle_t huart0;
//------------------------------------------------------------------------------
void initial()
{
Serial.println(F("Create Task"));
//----------------------------------------------------------------------
// create UART task
xTaskCreate(vUARTTask, "UART Task", configMINIMAL_STACK_SIZE, NULL, 1, &huart0);
// Check the results
// create blink task
xTaskCreate(vLEDFlashTask, "LED Task", configMINIMAL_STACK_SIZE, NULL, 2, &hled);
//-------------------------------------------------------------------
}
void setup()
{
Uart.inputString.reserve(60);
initial();
Serial.begin(9600);
Serial.setTimeout(2000);
Serial.println(F("init"));
//-------------------------------------
pinMode(LED_PIN, OUTPUT);
digitalWrite(LED_PIN, LOW); // Turn LED off.
//---------------IO setting-----------------
pinMode(DIO_1, INPUT);
pinMode(DIO_2, INPUT);
pinMode(DIO_3, INPUT);
pinMode(DIO_4, INPUT);
pinMode(DIO_5, INPUT);
pinMode(DIO_6, INPUT);
pinMode(DIO_7, INPUT);
pinMode(DIO_8, INPUT);
// start FreeRTOS
Serial.println("Systom On!");
vTaskStartScheduler();
//if the scheduler start the code don't came here
Serial.println(F("Die"));
while (1)
;
}
//------------------------------------------------------------------------------
void loop()
{
}
//------------------------------------------------------------------------------
// high priority for blinking LED
void vLEDFlashTask(void *pvParameters)
{
(void)pvParameters;
pinMode(LED_PIN, OUTPUT);
for (;;)
{
digitalWrite(LED_PIN, HIGH); // Turn LED on.
vTaskDelay((150L * configTICK_RATE_HZ) / 1000L); // Sleep for 50 milliseconds.
digitalWrite(LED_PIN, LOW); // Turn LED off.
vTaskDelay((150L * configTICK_RATE_HZ) / 1000L); // Sleep for 150 milliseconds.
}
}
//------------------------------------------------------------------------------
void vUARTTask(void *pvParameters)
{
Uart.lineIsComment = false;
Uart.lineSemiColon = false;
while(1)
{
while (Serial.available() > 0)
{
Uart.c = Serial.read();
if ((Uart.c == '\n') || (Uart.c == '\r'))
{ // End of line reached
if (Uart.lineIndex > 0)
{ // Line is complete. Then execute!
Uart.line[Uart.lineIndex] = '\0'; // Terminate string
//Serial.println( F("Debug") );
//Serial.println( Uart.inputString );
processCommand(Uart.line); // do something with the command
//傳輸給藍芽
Uart.lineIndex = 0;
Uart.inputString = "";
}
else
{
// Empty or comment line. Skip block.
}
Uart.lineIsComment = false;
Uart.lineSemiColon = false;
Serial.println(F("ok>"));
}
else
{
//Serial.println( c );
if ((Uart.lineIsComment) || (Uart.lineSemiColon))
{
if (Uart.c == ')')
Uart.lineIsComment = false; // End of comment. Resume line.
}
else
{
if (Uart.c == '/')
{ // Block delete not supported. Ignore character.
}
else if (Uart.c == '~')
{ // Enable comments flag and ignore all characters until ')' or EOL.
Uart.lineIsComment = true;
}
else if (Uart.c == ';')
{
Uart.lineSemiColon = true;
}
else if (Uart.lineIndex >= LINE_BUFFER_LENGTH - 1)
{
Serial.println("ERROR - lineBuffer overflow");
Uart.lineIsComment = false;
Uart.lineSemiColon = false;
}
else if (Uart.c >= 'a' && Uart.c <= 'z')
{ // Upcase lowercase
Uart.line[Uart.lineIndex] = Uart.c - 'a' + 'A';
Uart.lineIndex = Uart.lineIndex + 1;
Uart.inputString += (char)(Uart.c - 'a' + 'A');
}
else
{
Uart.line[Uart.lineIndex] = Uart.c;
Uart.lineIndex = Uart.lineIndex + 1;
Uart.inputString += Uart.c;
}
}
}
} //while (Serial.available() > 0)
}
}
//------------------------------------------------------------------------------
//----reset-----------
void (*resetFunc)(void) = 0;
//---------------------------------------------------------
void processCommand(char *data)
{
int len, xlen, ylen, zlen, alen;
int tempDIO;
String stemp;
unsigned int i, j, Comma;
int val, maxv, minv;
unsigned long duration;
float Vpp;
len = Uart.inputString.length();
//-------------RESET---------------
if (strstr(data, "VER") != NULL)
{
//Serial.println(F("W_ATE_Board_20201021"));
Serial.println(F("Mega_SERIAL_20230723"));
}
if (strstr(data, "RESET") != NULL)
{
Serial.println(F("Reset"));
resetFunc();
}
//===-----------------DIO port 1----------------
if (strstr(data, "DIO1") != NULL)
{
//-DIO11_LOW
if (data[3] == '1')
{
for (int i = 0; i < len; i++)
{
if (data[i] == '_')
{
//Serial.println("test");
//Serial.println(i);
xlen = i;
}
//ctemp[i-4]=data[i];
}
for (int i = 4; i < xlen; i++)
{
ctemp[i - 4] = data[i];
}
ctemp[xlen - 4] = '\0';
tempDIO = atoi(ctemp);
//Serial.println(tempDIO);
for (int i = (xlen + 1); i < len; i++)
{
ctemp[i - (xlen + 1)] = data[i];
}
ctemp[len - (xlen + 1)] = '\0';
tempDIO = tempDIO * 2 + 20;
pinMode(tempDIO, OUTPUT);
//if(strstr(ctemp, "ON") != NULL)
//if(strcmp(ctemp, "ON")==0)
//if (strcmp(Uart.ctemp, "LOW") == 0)
if (strstr(ctemp, "LOW") != NULL)
{
digitalWrite(tempDIO, LOW);
}
else if (strstr(ctemp, "ON") != NULL)
{
digitalWrite(tempDIO, LOW);
}
else if (strstr(ctemp, "HIGH") != NULL)
{
digitalWrite(tempDIO, HIGH);
}
else if (strstr(ctemp, "OFF") != NULL)
{
digitalWrite(tempDIO, HIGH);
}
}
}
}
Demonstration:
YouTube:
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