#include <Arduino_FreeRTOS.

h>
#include <semphr.h>
long debouncing_time = 150;
volatile unsigned long last_micros;

SemaphoreHandle_t interruptSemaphore;

void setup() {
pinMode(2, INPUT_PULLUP);
xTaskCreate(TaskLed, "Led", 128, NULL, 0, NULL );
xTaskCreate(TaskBlink, "LedBlink", 128, NULL, 0, NULL );
interruptSemaphore = xSemaphoreCreateBinary();
if (interruptSemaphore != NULL) {
attachInterrupt(digitalPinToInterrupt(2), debounceInterrupt, LOW);
}
}

void loop() {}

void interruptHandler() {
xSemaphoreGiveFromISR(interruptSemaphore, NULL);
}

void TaskLed(void *pvParameters)

{
(void) pvParameters;
pinMode(8, OUTPUT);
for (;;) {
if (xSemaphoreTake(interruptSemaphore, portMAX_DELAY) == pdPASS) {
digitalWrite(8, !digitalRead(8));
}
}
}
void TaskBlink(void *pvParameters)
{
(void) pvParameters;
pinMode(7, OUTPUT);
for (;;) {
digitalWrite(7, HIGH);
vTaskDelay(200 / portTICK_PERIOD_MS);
digitalWrite(7, LOW);
vTaskDelay(200 / portTICK_PERIOD_MS);
}
}
void debounceInterrupt() {
if((long)(micros() - last_micros) >= debouncing_time * 1000) {
interruptHandler();
last_micros = micros();
}
}