ESP32 FreeRTOS信号量

开发板：NodeMCU 32 V1.3
开发板引脚图：

开发环境：Arduino，https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
实现功能：
（1）任务1初始化按钮，设置按钮中断，最后删除自身任务；
（2）任务2接收信号量，如果在一定时间内接收到信号量，则翻转LED灯；这个时间由函数xSemaphoreTake的第二个参数决定，该函数原型为：BaseType_t xSemaphoreTake( SemaphoreHandle_t xSemaphore, TickType_t xTicksToWait );，其中xTicksToWait可以通过宏pdMS_TO_TICKS()将毫秒转成滴答数ticks；
（3）setup：对led，串口等一些外设的初始化，创建信号量，创建freertos任务；

Arduino代码为：

#include <Arduino.h>
/*
 * 开发板：NodeMCU 32 v1.3
 * setup():初始化串口，创建freertos任务，创建信号量
 * 任务Task1：初始化按钮，添加中断等，最后删除自身任务
 * ButtonISR：按钮触发中断服务函数，在ISR中释放信号量
 * 任务Task2：等待接收信号量，翻转LED
 */
#if CONFIG_FREERTOS_UNICORE
#define ARDUINO_RUNNING_CORE 0
#else
#define ARDUINO_RUNNING_CORE 1
#endif

#ifndef LED_BUILTIN
#define LED_BUILTIN 2
#endif

#define LONG_TIME 0xffff
#define buttonPin 0  // Nodemcu-32 BUTTON

volatile byte state = LOW;   //LED初始状态为低电平

// define two tasks for Blink & AnalogRead
void TaskKey( void *pvParameters );
void TaskAct( void *pvParameters );
// 声明信号量句柄
SemaphoreHandle_t xSemaphore;

// the setup function runs once when you press reset or power the board
void setup() {
  pinMode(LED_BUILTIN, OUTPUT); // 设置LED
 
  Serial.begin(115200); // 设置串口
  
  // Now set up two tasks to run independently.
  xTaskCreatePinnedToCore(
    TaskKey
    ,  "TaskKey"   // A name just for humans
    ,  2048  // This stack size can be checked & adjusted by reading the Stack Highwater
    ,  NULL
    ,  2  // Priority, with 3 (configMAX_PRIORITIES - 1) being the highest, and 0 being the lowest.
    ,  NULL 
    ,  ARDUINO_RUNNING_CORE);

  xTaskCreatePinnedToCore(
    TaskAct
    ,  "TaskAct"
    ,  2048  // Stack size
    ,  NULL
    ,  1  // Priority
    ,  NULL 
    ,  ARDUINO_RUNNING_CORE);
  // Now the task scheduler, which takes over control of scheduling individual tasks, is automatically started.
}

void loop()
{
  // Empty. Things are done in Tasks.
}

/*---------------------- Tasks ---------------------*/

void TaskKey(void *pvParameters)  // This is a task.
{
  (void) pvParameters;
  Serial.println(">>> Start TaskKey!");
  
  // 创建信号量
  xSemaphore = xSemaphoreCreateBinary();
  
  pinMode(buttonPin, INPUT);
  //设置中断
  attachInterrupt(digitalPinToInterrupt(buttonPin), ButtonISR, RISING);

  // 删除此任务
  vTaskDelete(NULL);
}

// 按钮中断函数
void ButtonISR()
{
  BaseType_t send;
  static BaseType_t xHigherPriorityTaskWoken;
  xHigherPriorityTaskWoken = pdFALSE;
  Serial.println("Button clicked!");
  // 释放信号量
  send = xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken);
  if (send==pdTRUE) Serial.println("Release semaphore successfully!");
  else Serial.println("Fialed to release semaphore!");
}
// 
void TaskAct(void *pvParameters)  // This is a task.
{
  (void) pvParameters;
  Serial.println(">>> Start TaskAct!");
  BaseType_t rec;
  BaseType_t msToWait = 1000; // 信号量接收等待时间
  TickType_t ticks;
  for (;;)
  {
    //函数原型：BaseType_t xSemaphoreTake( SemaphoreHandle_t xSemaphore, TickType_t xTicksToWait );
    rec = xSemaphoreTake(xSemaphore, pdMS_TO_TICKS(msToWait));//pdMS_TO_TICKS将ms转成对应的滴答数
    if (rec==pdTRUE) {
      Serial.println("Receive semaphore successfully!");
      state = !state;
      digitalWrite(LED_BUILTIN, state);
    }
    else {
      ticks = pdMS_TO_TICKS(msToWait);
      Serial.printf("Fialed to receive semaphore after waiting %d ticks!\n", ticks);
    }
    vTaskDelay(15);  // one tick delay (15ms) in between reads for stability
  }
}

结果如下