#include <Arduino_FreeRTOS.h>
#include <semphr.h>
long debouncing_time = 150; 
volatile unsigned long last_micros;

SemaphoreHandle_t interruptSemaphore;

void setup() {
  pinMode(2, INPUT_PULLUP);
  xTaskCreate(Task1,  "Led", 128, NULL, 0, NULL );
  xTaskCreate(Task2,  "quickBlink", 128, NULL, 0, NULL );
  xTaskCreate(Task3,  "Blink", 128, NULL, 0, NULL );
  interruptSemaphore = xSemaphoreCreateBinary();
  if (interruptSemaphore != NULL) {
    attachInterrupt(digitalPinToInterrupt(2), debounceInterrupt, LOW);
  }
}

void loop() {}

void interruptHandler() {
  xSemaphoreGiveFromISR(interruptSemaphore, NULL);
}

void Task1(void *pvParameters)
{
  (void) pvParameters;
  pinMode(7, OUTPUT);
  for (;;) {
    if (xSemaphoreTake(interruptSemaphore, portMAX_DELAY) == pdPASS) {
      digitalWrite(7, !digitalRead(7));
    }
  }
}
void Task2(void *pvParameters)
{
  (void) pvParameters;
  pinMode(8, OUTPUT);
  for (;;) {
      if (xSemaphoreTake(interruptSemaphore, portMAX_DELAY) == pdPASS) {
      digitalWrite(8, HIGH);
      vTaskDelay(20 / portTICK_PERIOD_MS);
      digitalWrite(8, LOW);
      vTaskDelay(20 / portTICK_PERIOD_MS);
      }
  }
}
void Task3(void *pvParameters)
{
  (void) pvParameters;
  pinMode(8, OUTPUT);
  for (;;) {
      digitalWrite(4, HIGH);
      vTaskDelay(200 / portTICK_PERIOD_MS);
      digitalWrite(4, LOW);
      vTaskDelay(200 / portTICK_PERIOD_MS);
  }

}
void debounceInterrupt() {
  if((long)(micros() - last_micros) >= debouncing_time * 1000) {
    interruptHandler();
    last_micros = micros();
  }
}