FreeRTOS example

This independent application embeds two character widgets in its own screen, without the touchscreen playground’s picker. Peach receives a Happy reaction from a worker task every five seconds, returning to Idle after 1.5 animation seconds. Sprout keeps Thinking independently.

The application uses a statically allocated FreeRTOS queue for copied mochi::Command values. Multiple ordinary tasks may call postCompanionCommand(); it returns false if the queue is unavailable or full. Only the Arduino UI task dispatches commands, updates mascots, or draws pixels. At most eight commands are drained per frame.

postCompanionCommandFromISR() shows the separate interrupt entry point. No interrupt is installed by this example. Callers must initialize the wake flag, follow FreeRTOS interrupt-priority rules, and perform the appropriate yield. The SDK and command queue storage allocate no heap memory; the board’s framebuffer and xTaskCreate() may allocate during setup.

Build and run

From the repository root, with PlatformIO installed:

pio run --project-dir examples/freertos_companion
pio device list
pio run --project-dir examples/freertos_companion --target upload --upload-port YOUR_PORT

This profile targets the same Waveshare ESP32-S3-Touch-AMOLED-2.16 as the playground. Its board/toolchain settings and the playground’s settings must stay aligned when dependencies change. Uploading replaces the installed application. To restore the picker, build/upload firmware/ instead.

If serial upload fails, follow the JTAG guide, using examples/freertos_companion/.pio/build/waveshare_amoled_216/firmware.factory.bin as the image path. See the integration guide for portable commands, buffer ownership, and integration with other GUI libraries.