Got serial+processing multitasking on freertos working

CMakeLists.txt

@@ -51,7 +51,7 @@ add_compile_definitions(configTICK_CORE=0)
 # )
 
 
-add_subdirectory(./Blinky)
+add_subdirectory(./Talky)
-add_subdirectory(./Listener)
+# add_subdirectory(./Listener)
-add_subdirectory(./Yeller)
+# add_subdirectory(./Yeller)
 

Talky/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.5.0)
+
+set(APP_NAME "Talky")
+
+add_executable(${APP_NAME}
+	./main.c
+)
+
+target_link_libraries(${APP_NAME} LINK_PUBLIC
+	pico_stdlib
+	FreeRTOS-Kernel
+	FreeRTOS-Kernel-Heap4
+)
+
+pico_enable_stdio_usb(${APP_NAME} 1)
+pico_enable_stdio_uart(${APP_NAME} 0)
+
+pico_add_extra_outputs(${APP_NAME})
+

Talky/main.c

@@ -0,0 +1,83 @@
+#include <stdio.h>
+#include <string.h>
+#include <pico/stdlib.h>
+#include "FreeRTOS.h"
+#include <queue.h>
+#include <task.h>
+
+#define BUFFER_SIZE 256
+
+char NULLCHAR = 0x0;
+QueueHandle_t MESSAGES = NULL;
+
+
+void vReadSerial(void* params) {
+	// Setup
+	MESSAGES = xQueueCreate(4, BUFFER_SIZE); // Message queue
+	unsigned int len = 0; // Buffer ptr
+	int ret;
+	char ret_char;
+	char* buffer = pvPortMalloc(BUFFER_SIZE * sizeof(char));
+	
+	// start loop
+	while(true) {
+		ret = getchar_timeout_us(0);
+		if(ret != PICO_ERROR_TIMEOUT) {
+			// If returned char exists, or...
+			ret_char = (char)ret;
+			if (ret_char & 0xE0) {
+				// If char is printable, echo it, copy to buffer, and increment ptr
+				printf("%c", ret_char);
+				memcpy(buffer+len*sizeof(char), &ret_char, sizeof(char));
+				len++;
+			} else if (len) {
+				// Otw, and if buffer is not empty, check special chars
+				switch(ret_char) {
+					// Backspace
+					// "Delete" char, ie decrement ptr
+					case 8:
+						len--;
+						break;
+					// CR, LF
+					// Send message to queue with null char and reset ptr
+					case 10:
+					case 13:
+						memcpy(buffer+len*sizeof(char), &NULLCHAR, sizeof(char));
+						xQueueSendToBack(MESSAGES, buffer, 50);
+						printf("\n");
+						len = 0;
+						break;
+					// Otw do nothing
+					default:
+						break;
+				};
+			}
+		}
+	}
+}
+
+void vProcessMessages(void* params) {
+	// Wait for queue to be intialized
+	while(true) {
+		if (MESSAGES != NULL) { break; }
+	}
+	char* command = pvPortMalloc(BUFFER_SIZE * sizeof(char));
+	while(MESSAGES != NULL) {
+		if (xQueueReceive(MESSAGES, command, 50)) {
+			printf("Recieved message: ");
+			printf("%s\n", command);
+		}
+	}
+
+}
+
+void main() {
+	stdio_init_all();
+	busy_wait_ms(1000);
+	gpio_init(PICO_DEFAULT_LED_PIN);
+	gpio_set_dir(PICO_DEFAULT_LED_PIN, GPIO_OUT);
+	xTaskCreate(vReadSerial, "Read serial", 128, NULL, 1, NULL);
+	xTaskCreate(vProcessMessages, "Process messages", 128, NULL, 1, NULL);
+	vTaskStartScheduler();
+}
+