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FreeRTOS and WiFi on Wio Terminal
Wi -Fi 機能とFreeRTOS による並行処理との両立
multi-threading with FreeRTOS
#include <Seeed_Arduino_FreeRTOS.h>
TaskHandle_t Handle_aTask;
TaskHandle_t Handle_bTask;
static void ThreadA(void* pvParameters) {
Serial.println("Thread A: Started");
while (1) {
Serial.println("Hello World!");
delay(1000);
}
}
static void ThreadB(void* pvParameters) {
Serial.println("Thread B: Started");
for (int i = 0; i < 10; i++) {
Serial.println("---This is Thread B---");
delay(2000);
}
Serial.println("Thread B: Deleting");
vTaskDelete(NULL);
}
void setup() {
Serial.begin(115200);
vNopDelayMS(1000); // prevents usb driver crash on startup, do not omit this
while(!Serial); // Wait for Serial terminal to open port before starting program
Serial.println("");
Serial.println("******************************");
Serial.println(" Program start ");
Serial.println("******************************");
// Create the threads that will be managed by the rtos
// Sets the stack size and priority of each task
// Also initializes a handler pointer to each task, which are important to communicate with and retrieve info from tasks
xTaskCreate(ThreadA, "Task A", 256, NULL, tskIDLE_PRIORITY + 2, &Handle_aTask);
xTaskCreate(ThreadB, "Task B", 256, NULL, tskIDLE_PRIORITY + 1, &Handle_bTask);
// Start the RTOS, this function will never return and will schedule the tasks.
vTaskStartScheduler();
}
void loop() {
// NOTHING
}
serial monitor
******************************
Program start
******************************
Thread A: Started
Hello World!
Thread B: Started
---This is Thread B---
Hello World!
Hello World!
---This is Thread B---
Hello World!
︙
しかし、この手法を用いて
add the WiFi library and construct a instance
#include <Seeed_Arduino_FreeRTOS.h>
#include "rpcWiFi.h" // WiFi library
// construct a instance
WiFiUDP wifiUdp;
TaskHandle_t Handle_aTask;
TaskHandle_t Handle_bTask;
static void ThreadA(void* pvParameters) {
Serial.println("Thread A: Started");
while (1) {
Serial.println("Hello World!");
delay(1000);
}
}
static void ThreadB(void* pvParameters) {
Serial.println("Thread B: Started");
for (int i = 0; i < 10; i++) {
Serial.println("---This is Thread B---");
delay(2000);
}
Serial.println("Thread B: Deleting");
vTaskDelete(NULL);
}
void setup() {
Serial.begin(115200);
vNopDelayMS(1000);
while(!Serial);
Serial.println("");
Serial.println("******************************");
Serial.println(" Program start ");
Serial.println("******************************");
xTaskCreate(ThreadA, "Task A", 256, NULL, tskIDLE_PRIORITY + 2, &Handle_aTask);
xTaskCreate(ThreadB, "Task B", 256, NULL, tskIDLE_PRIORITY + 1, &Handle_bTask);
vTaskStartScheduler();
}
void loop() {}
serial monitor
******************************
Program start
******************************
この問題は既に認知され、
対策
次のようにすればよい。
no error
// remove Seeed_Arduino_FreeRTOS.h
// remove task handlers
#include "rpcWiFi.h" // only WiFi library
using namespace erpc; // from Seeed_Arduino_rpcUnified
// construct a instance
WiFiUDP wifiUdp;
static void ThreadA(void* pvParameters) {
Serial.println("Thread A: Started");
while (1) {
Serial.println("Hello World!");
delay(1000);
}
}
static void ThreadB(void* pvParameters) {
Serial.println("Thread B: Started");
for (int i = 0; i < 10; i++) {
Serial.println("---This is Thread B---");
delay(2000);
}
Serial.println("Thread B: Deleting");
vTaskDelete(NULL);
}
void setup() {
Serial.begin(115200);
vNopDelayMS(1000);
while(!Serial);
Serial.println("");
Serial.println("******************************");
Serial.println(" Program start ");
Serial.println("******************************");
// xTaskCreate → erpc::Thread
// tskIDLE_PRIORITY → configMAX_PRIORITIES
Thread TaskA(&ThreadA, configMAX_PRIORITIES - 10, 256, "Task A");
Thread TaskB(&ThreadB, configMAX_PRIORITIES - 11, 256, "Task B");
// configMAX_PRIORITIES - x
// it will not work if x is small
// Thread TaskA(&ThreadA, configMAX_PRIORITIES - 5, 256, "Task A");
// Thread TaskB(&ThreadB, configMAX_PRIORITIES - 6, 256, "Task B");
Thread* tasksArray[2] = {&TaskA, &TaskB};
// start new tasks
for (Thread* pTask : tasksArray) {
pTask -> start();
}
}
void loop() {}
serial monitor
******************************
Program start
******************************
Thread A: Started
Hello World!
Thread B: Started
---This is Thread B---
Hello World!
---This is Thread B---
Hello World!
Hello World!
---This is Thread B---
Hello World!
︙
用例
udp test
#include "rpcWiFi.h"
#include <millisDelay.h>
#include "RTC_SAMD51.h"
#define STACK_SIZE 256
#define WIFI_SSID "SSID"
#define WIFI_PASSWORD "PASSWORD"
using namespace erpc;
const unsigned int LOCAL_PORT = 2390;
const char* const TIME_SERVER = "time.nist.gov";
const int NTP_PORT = 123;
const int NTP_PACKET_SIZE = 48;
const unsigned long NTP_TO_UNIX = 2208988800UL;
const long JST = 32400UL;
const unsigned long FIVE_SECONDS = 5000UL;
millisDelay updateDelay;
byte packetBuffer[NTP_PACKET_SIZE];
DateTime currentDateTime;
WiFiUDP wifiUdp;
unsigned long ntpTime;
RTC_SAMD51 rtcSamd51;
void connectToWiFi();
unsigned long getNtpTime();
void sendNTPpacket(const char* const address);
static void ThreadA(void* pvParameters);
static void ThreadB(void* pvParameters);
static void ThreadA(void* pvParameters) {
(void) pvParameters;
Serial.println("Thread A\tStarted");
while (1) {
Serial.println("Thread A\tHi");
delay(1000);
}
}
static void ThreadB(void* pvParameters) {
(void) pvParameters;
Serial.println("Thread B\tStarted");
while (1) {
Serial.println("Thread B\tHello");
delay(2000);
}
}
void setup() {
Serial.begin(115200);
vNopDelayMS(1000);
while(!Serial);
Serial.println("\n******************************");
Serial.println(" Program start ");
Serial.println("******************************\n");
Thread TaskA(
&ThreadA,
configMAX_PRIORITIES - 10,
STACK_SIZE,
"Task A"
);
Thread TaskB(
&ThreadB,
configMAX_PRIORITIES - 11,
STACK_SIZE,
"Task B"
);
Thread* tasksArray[2] = {&TaskA, &TaskB};
for (Thread* t : tasksArray) {
t -> start();
}
connectToWiFi();
ntpTime = getNtpTime();
if (ntpTime == 0) {
Serial.println("Failed to get time from network time server.");
}
if (!rtcSamd51.begin()) {
Serial.println("Couldn't find RTC");
while (1);
}
currentDateTime = rtcSamd51.now();
Serial.print("RTC time is: ");
Serial.println(currentDateTime.timestamp(DateTime::TIMESTAMP_FULL));
DateTime dtNtp = DateTime(ntpTime);
Serial.printf(
"NTP\t%04d/%d/%d %02d:%02d:%02d\n",
dtNtp.year(),
dtNtp.month(),
dtNtp.day(),
dtNtp.hour(),
dtNtp.minute(),
dtNtp.second()
);
Serial.println(dtNtp.timestamp(DateTime::TIMESTAMP_FULL));
rtcSamd51.adjust(dtNtp);
Serial.println("RTC (boot) time updated.");
currentDateTime = rtcSamd51.now();
Serial.printf("Adjusted RTC (boot) time is: ");
Serial.println(currentDateTime.timestamp(DateTime::TIMESTAMP_FULL));
updateDelay.start(FIVE_SECONDS);
}
void loop() {
if (updateDelay.justFinished()) {
updateDelay.repeat();
ntpTime = getNtpTime();
if (ntpTime == 0) {
Serial.println("Failed to get time from network time server.");
}
else {
rtcSamd51.adjust(DateTime(ntpTime));
Serial.println("\nrtcSamd51 time updated.");
currentDateTime = rtcSamd51.now();
Serial.print("Adjusted RTC time is: ");
Serial.println(currentDateTime.timestamp(DateTime::TIMESTAMP_FULL));
}
}
}
void connectToWiFi() {
Serial.println("Connecting to WiFi");
WiFi.disconnect(true);
Serial.println("Waiting for Wi-Fi connection...");
WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
while (WiFi.status() != WL_CONNECTED) {
WiFi.begin(WIFI_SSID, WIFI_PASSWORD);
delay(500);
}
Serial.println("Connected.");
}
void sendNTPpacket(const char* const address) {
for (int i = 0; i < NTP_PACKET_SIZE; ++i) {
packetBuffer[i] = 0;
}
packetBuffer[0] = 0b11100011;
packetBuffer[1] = 0;
packetBuffer[2] = 6;
packetBuffer[3] = 0xEC;
packetBuffer[12] = 49;
packetBuffer[13] = 0x4E;
packetBuffer[14] = 49;
packetBuffer[15] = 52;
wifiUdp.beginPacket(address, NTP_PORT);
wifiUdp.write(packetBuffer, NTP_PACKET_SIZE);
wifiUdp.endPacket();
}
unsigned long getNtpTime() {
if (WiFi.status() == WL_CONNECTED) {
wifiUdp.begin(WiFi.localIP(), LOCAL_PORT);
sendNTPpacket(TIME_SERVER);
delay(1000);
if (wifiUdp.parsePacket()) {
Serial.println("wifiUdp packet received\n");
wifiUdp.read(packetBuffer, NTP_PACKET_SIZE);
unsigned long highWord = word(packetBuffer[40], packetBuffer[41]);
unsigned long lowWord = word(packetBuffer[42], packetBuffer[43]);
unsigned long secsSince1900 = highWord << 16 | lowWord;
unsigned long epoch = secsSince1900 - NTP_TO_UNIX;
unsigned long adjustedTime = epoch + JST;
return adjustedTime;
}
else {
wifiUdp.stop();
return 0;
}
wifiUdp.stop();
}
else {
return 0;
}
}
serial monitor
******************************
Program start
******************************
Thread A Started
Thread A Hi
Thread B Started
Thread B Hello
Connecting to WiFi
Waiting for Wi-Fi connection...
Thread A Hi
Thread B Hello
Thread A Hi
Thread A Hi
Thread B Hello
Thread A Hi
Thread A Hi
Thread B Hello
Thread A Hi
Thread A Hi
Thread B Hello
Thread A Hi
Thread A Hi
Thread B Hello
Thread A Hi
Thread A Hi
Connected.
Thread B Hello
Thread A Hi
wifiUdp packet received
RTC time is: 2000-01-01T00:00:00
NTP 2024/7/27 05:57:53
2024-07-27T05:57:53
RTC (boot) time updated.
Adjusted RTC (boot) time is: 2024-07-27T05:57:53
Thread A Hi
Thread B Hello
Thread A Hi
Thread A Hi
Thread B Hello
Thread A Hi
Thread A Hi
Thread B Hello
Thread A Hi
wifiUdp packet received
rtcSamd51 time updated.
Adjusted RTC time is: 2024-07-27T05:57:59
Thread A Hi
Thread B Hello
Thread A Hi
Thread A Hi
Thread B Hello
Thread A Hi
Thread A Hi
wifiUdp packet received
rtcSamd51 time updated.
Adjusted RTC time is: 2024-07-27T05:58:04
Thread B Hello
Thread A Hi
Thread A Hi
Thread B Hello
Thread A Hi
︙
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