Here is the basic example. This one shown for freeRTOS, the one for TeensyThreads is basically the same.
Code:
#include <Arduino.h>
#include "arduino_freertos.h"
#include "avr/pgmspace.h"
volatile uint16_t a,b,c;
void task1(void*)
{
a=0;
while (true)
{
a++;
vTaskDelay(pdMS_TO_TICKS(1));
}
}
void task2(void*)
{
b=0;
while (true)
{
b++;
//digitalWriteFast(arduino::LED_BUILTIN, arduino::HIGH);
vTaskDelay(pdMS_TO_TICKS(25));
//digitalWriteFast(arduino::LED_BUILTIN, arduino::LOW);
vTaskDelay(pdMS_TO_TICKS(50));
}
}
void task3(void*)
{
c=0;
while (true)
{
c++;
Serial.printf("a[%06u] : b[%06u] : c[%06u]\r\n",a,b,c);
vTaskDelay(pdMS_TO_TICKS(10));
}
}
void setup()
{
Serial.begin(115200);
while (!Serial); // wait for Arduino Serial Monitor
xTaskCreate(task1, "task1", 2048, nullptr, 3, nullptr);
xTaskCreate(task2, "task2", 2048, nullptr, 2, nullptr);
xTaskCreate(task3, "task3", 2048, nullptr, 1, nullptr);
Serial.println("setup(): starting scheduler...");
Serial.flush();
vTaskStartScheduler();
}
void loop()
{
}TeensyThreads compile output:
teensy_size: Memory Usage on Teensy 4.1:
teensy_size: FLASH: code:28056, data:5016, headers:8908 free for files:8084484
teensy_size: RAM1: variables:5760, code:25384, padding:7384 free for local variables:485760
teensy_size: RAM2: variables:12384 free for malloc/new:511904
freeRTOS compile output:
RAM 1: [= ] 8.7% (used 45600 bytes from 524288 bytes)
RAM 2: [ ] 2.5% (used 13164 bytes from 524288 bytes)
Flash: [ ] 0.8% (used 61440 bytes from 8126464 bytes)
Not sure why the two outputs look different.
