Use FreeRTOS (simple, easy, robust, & optimised for the Arduino IDE) to reduce the power required for battery or low power applications.
by Phillip Stevens
FreeRTOS, simple, easy, robust, and optimised for Arduino IDE. Using FreeRTOS Semaphores to share and protect physical resources.
FreeRTOS, simple, easy to use, robust, optimised for Arduino IDE.
Full access to FreeRTOS capabilities, within classic Arduino environment.
The best place to look is on the FreeRTOS web pages.
And, use Internet search engines to get some additional code examples and tutorials.
Yes. You can. use that shield. You may need to configure it differently than I've suggested, depending on which Xbee modules you use, but essentially it will be similar.
Yes. I agree that the best way to get accurate timing is with an output ping-pong and an oscilloscope. I've used this method previously to measure the time taken in an interrupt (where there was a limited time budget).
Any other method substantially disturbs the system, and specifically in this project the Watchdog Timer used to drive the FreeRTOS scheduler only has an inaccurate 15ms cycle, so trying to measure anything less than (say) half a second is going to be quite inaccurate.
The code example you sent (in email) looks like it will be done in 5 ms or so. The time it will take to execute will be constant and the same with and without the scheduler. Unless the scheduler interrupts the task, and then you'll get quite a different (much longer) time probably in excess of 15ms before the task is scheduled to run again.
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