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RTOS/CC2650STK: Multi Thread Implementation

Part Number: CC2650STK
Other Parts Discussed in Thread: CC2650

Tool/software: TI-RTOS

Hello,

I have an application that the CC2650 will read data from a I2C laser range finder and process it if the range is below a threshold. I  could write a task that gets data every 4msec from sensor.

I need to write another task to process measured distances and need to make sure that the reading process (first task) won't miss any sample from I2C while processing the latest measurement in second task.

The first task should pass the measurement to second task to process the measurement and once it passed the measurement it should continue reading the distance measurement while the other task is processing the old one.

Is there anyway that I can implement this application, it seems that I need multi thread implementation.

Thanks.