How to using FreeRTOS on Arduino?

 Using FreeRTOS on Arduino lets you run multiple tasks (functions) independently, improving structure and responsiveness in your embedded project. Here’s a beginner-friendly guide:

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Getting Started with FreeRTOS on Arduino

 Step 1: Install FreeRTOS Library

1. Open the Arduino IDE.

2. Go to Library Manager (Sketch > Include Library > Manage Libraries…).

3. Search for "FreeRTOS".

4. Install “Arduino FreeRTOS Library” by Richard Barry or similar.

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 Step 2: Basic Example – Two Blinking LEDs

This example runs two tasks to blink two LEDs at different intervals.

cpp

#include <Arduino_FreeRTOS.h>

void TaskBlink1(void *pvParameters);
void TaskBlink2(void *pvParameters);

void setup() {
  pinMode(8, OUTPUT);  // LED 1
  pinMode(9, OUTPUT);  // LED 2

  // Create two tasks
  xTaskCreate(TaskBlink1, "Blink1", 128, NULL, 1, NULL);
  xTaskCreate(TaskBlink2, "Blink2", 128, NULL, 1, NULL);
}

void loop() {
  // Empty - FreeRTOS takes over
}

void TaskBlink1(void *pvParameters) {
  (void) pvParameters;
  for (;;) {
    digitalWrite(8, HIGH);
    vTaskDelay(500 / portTICK_PERIOD_MS); // 500ms delay
    digitalWrite(8, LOW);
    vTaskDelay(500 / portTICK_PERIOD_MS);
  }
}

void TaskBlink2(void *pvParameters) {
  (void) pvParameters;
  for (;;) {
    digitalWrite(9, HIGH);
    vTaskDelay(1000 / portTICK_PERIOD_MS); // 1s delay
    digitalWrite(9, LOW);
    vTaskDelay(1000 / portTICK_PERIOD_MS);
  }
}

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 What’s Happening?

• xTaskCreate(): Creates tasks that run in parallel.

• vTaskDelay(): Non-blocking delay — lets other tasks run.

• loop() is unused because FreeRTOS schedules tasks instead.

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 Notes:

• Works best on boards with more RAM like Arduino Mega or ESP32.

• Each task needs its own stack size (e.g., 128 words = ~512 bytes).

• Avoid using delay() inside FreeRTOS tasks — use vTaskDelay() instead.