#include <Arduino_FreeRTOS.h>
#include <semphr.h>  // Include FreeRTOS mutex support

// Mutex handle
SemaphoreHandle_t Mutex_Com;


//--------------------------------------- Blink_LED--------------------------------------------

void Blink_LED(const uint8_t Led, int Delay)
  {
    digitalWrite(Led, HIGH);
    delay(Delay);
    //vTaskDelay((Delay * configTICK_RATE_HZ) / 1000L);
    digitalWrite(Led, LOW);
  }


//------------------------------------- Tache 1 ---------------------------------------------

void Tache_1(void * pvParameters ) 
  {
    while (1) 
      {
        Blink_LED(7, 100);
        xSemaphoreTake( Mutex_Com ,portMAX_DELAY  ) ;
        Serial.println("Task1");
        xSemaphoreGive(Mutex_Com); 
                vTaskDelay(120);
      }
  }

//--------------------------------------- Tache 2 ---------------------------------------------

void Tache_2(void * pvParameters )
  {
    while (1) 
      {       
        Blink_LED(6, 200);       
         xSemaphoreTake( Mutex_Com ,portMAX_DELAY  ) ;
        Serial.println("Task2");
        xSemaphoreGive(Mutex_Com); 
        vTaskDelay(400);
      }
  }

//--------------------------------------- Tache 3 ---------------------------------------------

void Tache_3(void * pvParameters )
  {
    while (1) 
      {
        Blink_LED(5, 200);
         xSemaphoreTake( Mutex_Com ,portMAX_DELAY  ) ;
        Serial.println("Task3");
        xSemaphoreGive(Mutex_Com);
        vTaskDelay(200);
        
      }
  }

//--------------------------------------- Setup -----------------------------------------------

void setup() 
  {
    pinMode(7, OUTPUT);  // configuration de pin 7 en sortie
    pinMode(5, OUTPUT);  // configuration de pin 5 en sortie
    pinMode(6, OUTPUT);  // configuration de pin 6 en sortie
Serial.begin(9600);
    // création du sémaphore mutex
 Mutex_Com=xSemaphoreCreateMutex() ;
//************ Création de trois taches périodiques *****
    xTaskCreate(Tache_1, NULL, configMINIMAL_STACK_SIZE, NULL, 1, NULL);
    xTaskCreate(Tache_2, NULL, configMINIMAL_STACK_SIZE, NULL, 1, NULL);
    xTaskCreate(Tache_3, NULL, configMINIMAL_STACK_SIZE, NULL, 1, NULL);
    
//*********** Lancement du Scheduler ********************
    vTaskStartScheduler();
    while(1);
}
//------------------------------------------------------------------------------

void loop() 
  {
 
  }