#include <Arduino_FreeRTOS.h>


void setup()


//Initialize the Serial Monitor with 9600 baud rate


{


Serial.begin(9600);


Serial.println(F("In Setup function")); //use of F saves memory


//Set the digital pins 8 to 11 as digital output pins


  pinMode(8,OUTPUT);


  pinMode(9,OUTPUT);


  pinMode(10,OUTPUT);


  pinMode(11,OUTPUT);


 


//Create three tasks with labels Task1, Task2 and Task3 and assign the priority as 1, 2 and 3 respectively.


//We also create the fourth task labeled as IdelTask when there is no task in


//operation and it has the highest priority.


 


 xTaskCreate(MyTask1, "Task1", 100, NULL, 1, NULL);


 xTaskCreate(MyTask2, "Task2", 100, NULL, 2, NULL);


 xTaskCreate(MyTask3, "Task3", 100, NULL, 3, NULL);


 xTaskCreate(MyTask4, "Task4", 100, NULL, 4, NULL);


 xTaskCreate(MyTask5, "Task5", 100, NULL, 5, NULL);


 xTaskCreate(MyIdleTask, "IdleTask", 100, NULL, 0, NULL);}


 


//We can change the priority of task according to our desire by changing the numeric’s 
//between NULL texts.

void loop()

{


//There is no instruction in the loop section of the code.


// Because each task executes on interrupt after specified time


}

//The following function is Task1. We display the task label on Serial monitor.

static void MyTask1(void* pvParameters)


{

  while(1)

  {


    digitalWrite(8,HIGH);


    digitalWrite(9,LOW);


    digitalWrite(10,LOW);


    digitalWrite(11,LOW);


    Serial.println(F("Task1"));


    vTaskDelay(100/portTICK_PERIOD_MS);


  }


}


 


//Similarly this is task 2


 


static void MyTask2(void* pvParameters)


 


{ 


while(1)


 


  {
    
   digitalWrite(8,LOW);


    digitalWrite(9,HIGH);


    digitalWrite(10,LOW);


    digitalWrite(11,LOW);  


    Serial.println(F("Task2"));


    vTaskDelay(110/portTICK_PERIOD_MS);


  }


}


 


//Similarly this is task 3


 


static void MyTask3(void* pvParameters)


{


while(1)


  {


   digitalWrite(8,LOW);


   digitalWrite(9,LOW);


   digitalWrite(10,HIGH);


   digitalWrite(11,LOW);


   Serial.println(F("Task3"));


   vTaskDelay(120/portTICK_PERIOD_MS);


  }


}
 
static void MyTask4(void* pvParameters)

{

  while(1)

  {


    digitalWrite(8,HIGH);


    digitalWrite(9,LOW);


    digitalWrite(10,LOW);


    digitalWrite(11,LOW);


    Serial.println(F("Task4"));


    vTaskDelay(90/portTICK_PERIOD_MS);


  }


}


static void MyTask5(void* pvParameters)

{

  while(1)

  {


    digitalWrite(8,HIGH);


    digitalWrite(9,LOW);


    digitalWrite(10,LOW);


    digitalWrite(11,LOW);


    Serial.println(F("Task5"));


    vTaskDelay(80/portTICK_PERIOD_MS);

  }

}

//This is the idle task which has the lowest priority and calls when no task is running.

static void MyIdleTask(void* pvParameters)

{


  while(1)


   {


    digitalWrite(8,LOW);


    digitalWrite(9,LOW);


    digitalWrite(10,LOW);


    digitalWrite(11,HIGH);


    Serial.println(F("Idle state"));


    delay(50);


  } 


}