ESP-Nodes/ESP32-IDF_FreeRTOS/I2C_MultiDevice/main/hello_world_main.c

/*
 * FreeRTOS simultaneous tasks.
 * The two tasks increment data struct variables, one task at a time, and send them to a display task.
 * Created on: Aug 5, 2025
 * Updated on:
 * 
 * By: Alexander Bobkov
 * 
 * ESP-IDF version: 5.4.1
 */

#include <stdio.h>
#include <inttypes.h>
#include "sdkconfig.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "freertos/queue.h"
#include "esp_chip_info.h"
#include "esp_flash.h"
#include "esp_system.h"

SemaphoreHandle_t xMutex;
QueueHandle_t xQueue, xQueue1, xQueue2;
typedef struct {
    uint32_t num1;
    uint32_t num2;
    uint32_t num3;
} SensorsData;

static int cntdn;
static SensorsData s_data;

void task1(void *pvParameters);
void task2(void *pvParameters);
void display_task(void *pvParameters);
void restart_task(void *pvParameters);

void app_main(void)
{
    // Initialize the variables values
    cntdn = 20;
    s_data = (SensorsData) {
        .num1 = 0,
        .num2 = 0,
        .num3 = 0,
    };

    /* Print chip information */
    esp_chip_info_t chip_info;
    uint32_t flash_size;
    esp_chip_info(&chip_info);
    printf("ESP Module ID: %d with %d CPU core(s),\n%s%s%s%s,\n",
           chip_info.model,
           chip_info.cores,
           (chip_info.features & CHIP_FEATURE_WIFI_BGN) ? "WiFi/" : "",
           (chip_info.features & CHIP_FEATURE_BT) ? "BT" : "",
           (chip_info.features & CHIP_FEATURE_BLE) ? "BLE" : "",
           (chip_info.features & CHIP_FEATURE_IEEE802154) ? ", 802.15.4 (Zigbee/Thread)" : "");

    unsigned major_rev = chip_info.revision / 100;
    unsigned minor_rev = chip_info.revision % 100;
    printf("silicon revision v%d.%d, \n", major_rev, minor_rev);
    if(esp_flash_get_size(NULL, &flash_size) != ESP_OK) {
        printf("Get flash size failed");
        return;
    }

    printf("%" PRIu32 "MB %s flash\n", flash_size / (uint32_t)(1024 * 1024),
           (chip_info.features & CHIP_FEATURE_EMB_FLASH) ? "embedded" : "external");

    printf("Minimum free heap size: %" PRIu32 " Kbytes\n", esp_get_minimum_free_heap_size() / (uint32_t)(1024));

    // Create mutex and queues
    xMutex = xSemaphoreCreateMutex();
    if (xMutex == NULL) {
        printf("Failed to create mutex\n");
        return;
    }
    xQueue = xQueueCreate(10, sizeof(SensorsData));
    xQueue1 = xQueueCreate(10, sizeof(SensorsData));
    xQueue2 = xQueueCreate(10, sizeof(SensorsData));
    if (xQueue1 == NULL || xQueue2 == NULL) {
        printf("Failed to create queues\n");
        return;
    }

    // Create tasks
    xTaskCreate(task1, "Task1", 2048, NULL, 15, NULL);
    xTaskCreate(task2, "Task2", 2048, NULL, 15, NULL);
    xTaskCreate(display_task, "DisplayTask", 2048, NULL, 25, NULL);
    xTaskCreate(restart_task, "TaskRestart", 2048, NULL, 20, NULL);
}

// Task #1; increments num1, sends data to queue1
void task1(void *pvParameters) {
    uint32_t x = 0;
    SensorsData task_data = {
        .num1 = 0,
        .num2 = 0,
        .num3 = 0,
    };

    while (1) {
        if (xSemaphoreTake(xMutex, 1500)) {
            task_data.num1 = x;
            s_data.num1 = x;
            xQueueSend(xQueue1, &task_data, 0);
            printf("\nTask 1 sent x=%" PRIu32 "\n", x);
            x+=2;
            vTaskDelay(500);
            xSemaphoreGive(xMutex);
        }
        else {
            printf("Task 1 timed out waiting for mutex\n");
        }
        vTaskDelay(100);
    }
}

// Task #2; increments num2, sends data to queue2
void task2(void *pvParameters) {
    uint32_t y = 0;
    SensorsData task_data = {
        .num1 = 0,
        .num2 = 0,
        .num3 = 0,
    };

    while (1) {
        if (xSemaphoreTake(xMutex, 1500)) {
            task_data.num2 = y;
            s_data.num2 = y;
            xQueueSend(xQueue2, &task_data, 0);
            printf("\nTask 2 sent y=%" PRIu32 "\n", y);
            y++;
            vTaskDelay(250); 
            xSemaphoreGive(xMutex);
        }
        else {
            printf("Task 2 timed out waiting for mutex\n");
        }
        vTaskDelay(100);
    }
}

// Task to restart the system after a countdown
void restart_task(void *pvParameters) {
    printf("Restarting system in %d seconds...\n", cntdn);
    while (1) {
        vTaskDelay(cntdn * 1000); // Delay for 10 seconds
        esp_restart();
    }
}

// Display task; receives data from both queues and prints it
void display_task(void *pvParameters) {
    SensorsData rx_data;
    while (1) {
        if (xQueueReceive(xQueue1, &rx_data, 500)) {
            printf("\nReceived sensors_data from Queue 1: num1=%" PRIu32 ", num2=%" PRIu32 ", num3=%" PRIu32 "\n",
                rx_data.num1, rx_data.num2, rx_data.num3);
        }
        if (xQueueReceive(xQueue2, &rx_data, 500)) {
            printf("\nReceived sensors_data from Queue 2: num1=%" PRIu32 ", num2=%" PRIu32 ", num3=%" PRIu32 "\n",
                rx_data.num1, rx_data.num2, rx_data.num3);
        }

        printf("\n\nsensors_data:\nnum1=%" PRIu32 "\nnum2=%" PRIu32 "\nnum3=%" PRIu32 "\n", 
            s_data.num1, s_data.num2, s_data.num3);
        
        vTaskDelay(50);
    }
}