FreeRTOS_Task_Priority.ino

#include <Arduino_FreeRTOS.h>

#define RED     6
#define YELLOW  7
#define BLUE    8

TaskHandle_t  blueHandle, redHandle, yellowHandle;

const uint16_t taskParam[3][2] = { {BLUE, 500}, {RED, 1000}, {YELLOW, 2000} };

void setup() {
  xTaskCreate(redLedTask, "RED LED Task", 128, NULL, 2, &redHandle);
  xTaskCreate(blueLedTask, "BLUE LED Task", 128, NULL, 1, &blueHandle);
  xTaskCreate(yellowLedTask, "YELLOW LED Task", 128, NULL, 1, &yellowHandle);
}

void redLedTask(void *pvParameters)
{
  int count = 0;
  pinMode(RED, OUTPUT);
  while (1)
  {
    if (count++ >= 10) {
      count = 0;
      vTaskPrioritySet(redHandle, 1);
      vTaskPrioritySet(blueHandle, 2);
    }
    digitalWrite(RED, digitalRead(RED) ^ 1);
    delay(500);
  }
}

void blueLedTask(void *pvParameters)
{
  int count = 0;
  pinMode(BLUE, OUTPUT);
  while (1)
  {
    if (count++ >= 10) {
      count = 0;
      vTaskPrioritySet(blueHandle, 1);
      vTaskPrioritySet(yellowHandle, 2);
    }
    digitalWrite(BLUE, digitalRead(BLUE) ^ 1);
    delay(500);
  }
}

void yellowLedTask(void *pvParameters)
{
  int count = 0;
  pinMode(YELLOW, OUTPUT);
  vTaskPrioritySet(blueHandle, 1);
  while (1)
  {
    if (count++ >= 10) {
      count = 0;
      vTaskPrioritySet(yellowHandle, 1);
      vTaskPrioritySet(redHandle, 2);
    }
    digitalWrite(YELLOW, digitalRead(YELLOW) ^ 1);
    delay(500);
  }
}


void loop() {}