Создание приложений под FreeRTOS и RISC?V

xTaskCreate(
     /* Pointer to the function that implements the task. */
     vTaskCode,
     /* Name of the task. */
     "Demo task",
     /* The size of the stack that should be created for the task. This is defined in words, not bytes. */
     STACK_SIZE,
     /* A reference to xParameters is used as the task parameter. This is cast to a void * to prevent compiler warnings. */
     (void*) &xParameter,
     /* The priority to be assigned to the newly created task. */
     TASK_PRIORITY,
     /* The handle to the created task will be placed into xHandle parameter as the output of the xTaskCreate function. */
     &xHandle
)

static void prvQueueSendTask1( void *pvParameters )
{
     TickType_t xNextWakeTime;
     const unsigned long ulValueToSend = 100UL;
     const char * const pcMessage1 = "Transfer1";
     const char * const pcMessage2 = "Transfer2";

     /* Remove compiler warning about unused parameter. */
     ( void ) pvParameters;

     /* Initialize xNextWakeTime; this only needs to be done once. */
     xNextWakeTime = xTaskGetTickCount();

     for( ;; )
     {

           char buf[40];

           sprintf( buf, "%d: %s: %s", xGetCoreID(),
                      pcTaskGetName( xTaskGetCurrentTaskHandle() ),
                      pcMessage1 );
           vSendString( buf );

           /* Place this task into Blocked state until it is time to run again. */
           vTaskDelayUntil( &xNextWakeTime, mainQUEUE_SEND_FREQUENCY_MS1 );

           /* Send input of 100UL to the queue, causing the queue to
           receive the task to unblock and toggle the LED. Since 0 is
           used as the block time, the sending operation will not block;
           it shouldn't need to block, as the queue should always be
           empty at this point in the code. */
           xQueueSend( xQueue, &ulValueToSend, 0U );
     }
}

static void prvQueueSendTask2( void *pvParameters )
{

     TickType_t xNextWakeTime;
     const unsigned long ulValueToSend = 200UL;
     const char * const pcMessage1 = "Transfer1";
     const char * const pcMessage2 = "Transfer2";

     /* Remove compiler warning about unused parameter. */
     ( void ) pvParameters;

     /* Initialize xNextWakeTime; this only needs to be done once. */
     xNextWakeTime = xTaskGetTickCount();

     for( ;; )
     {

           char buf[40];

           sprintf( buf, "%d: %s: %s", xGetCoreID(),
                      pcTaskGetName( xTaskGetCurrentTaskHandle() ),
                      pcMessage2 );
           vSendString( buf );

           /* Place this task into Blocked state until it is time to run again. */
           vTaskDelayUntil( &xNextWakeTime,mainQUEUE_SEND_FREQUENCY_MS2 );

           /* Send input of 200UL to the queue, causing the queue to
           receive the task to unblock and toggle the LED. Since 0 is
           used as the block time, the sending operation will not block;
           it shouldn't need to block, as the queue should always be
           empty at this point in the code. */
           xQueueSend( xQueue, &ulValueToSend, 0U );
     }
}

static void prvQueueReceiveTask( void *pvParameters )
{

     unsigned long ulReceivedValue;
     const unsigned long ulExpectedValue1 = 100UL;
     const unsigned long ulExpectedValue2 = 200UL;
     const char * const pcMessage1 = "Blink1";
     const char * const pcMessage2 = "Blink2";
     const char * const pcFailMessage = "Unexpected value received\r\n";

     /* Remove compiler warning about unused parameter. */
     ( void ) pvParameters;

     for( ;; )
     {

           char buf[40];

           /* Wait until something arrives in the queue; this task will
           block indefinitely, provided that INCLUDE_vTaskSuspend is set
           to 1 in FreeRTOSConfig.h. */
           xQueueReceive( xQueue, &ulReceivedValue, portMAX_DELAY );

           /* To get here, something must have been received from the queue - but is it the expected value? If it is, toggle the LED. */
           if( ulReceivedValue == ulExpectedValue1 )
           {
                sprintf( buf, "%d: %s: %s", xGetCoreID(),
                           pcTaskGetName( xTaskGetCurrentTaskHandle() ),
                           pcMessage1 );
                vSendString( buf );

                ulReceivedValue = 0U;
           }
           else if( ulReceivedValue == ulExpectedValue2 )
           {
                 sprintf( buf, "%d: %s: %s", xGetCoreID(),
                            pcTaskGetName( xTaskGetCurrentTaskHandle() ),
                            pcMessage2 );
                 vSendString( buf );

                 ulReceivedValue = 0U;
           }
           else
           {
                 vSendString( pcFailMessage );
           }
     }
}