FreeRTOS is not solving my problem to run tasks parallelly

Question

I'm pretty new to esp32 and I'm trying to combine two codes in one, they are simple codes from projects that I found online, the first one uses PIR sensor to send message to telegram each time motion is detected, second code uses RFID to open door lock. When I tried directly merging the two codes together the esp32 went crazy on serial monitor and nothing worked even the WIFI failed to connect.

Then I tried creating task for each one using freeRTOS and I did it like this:

task1: for Wifi connection running on CORE 0 //wifi function is taken from sketch 1

task2: for RFID and door lock running on CORE 1 //taken from sketch 2

task3: for motion detection and sending telegram message running on CORE 0 //taken from sketch 1

Again esp32 went crazy when I opened serial monitor and it gave me this error:" Guru Meditation Error: Core 1 panic'ed (IllegalInstruction). Exception was unhandled. "

I have no clue why is this happening, does it really require RTOS to combine the two sketches and run them at the same time, or a simple delays and if statements would solve the problem? I need some help please.

Sketch 1: Motion detection from enter link description here

/*
 Rui Santos
 Complete project details at https://RandomNerdTutorials.com/telegram-esp32-motion-detection-arduino/
 
 Project created using Brian Lough's Universal Telegram Bot Library: https://github.com/witnessmenow/Universal-Arduino-Telegram-Bot
*/
#include <WiFi.h>
#include <WiFiClientSecure.h>
#include <UniversalTelegramBot.h>
#include <ArduinoJson.h>
// Replace with your network credentials
const char* ssid = "REPLACE_WITH_YOUR_SSID";
const char* password = "REPLACE_WITH_YOUR_PASSWORD";
// Initialize Telegram BOT
#define BOTtoken "XXXXXXXXXX:XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX" // your Bot Token (Get from Botfather)
// Use @myidbot to find out the chat ID of an individual or a group
// Also note that you need to click "start" on a bot before it can
// message you
#define CHAT_ID "XXXXXXXXXX"
WiFiClientSecure client;
UniversalTelegramBot bot(BOTtoken, client);
const int motionSensor = 27; // PIR Motion Sensor
bool motionDetected = false;
// Indicates when motion is detected
void IRAM_ATTR detectsMovement() {
 //Serial.println("MOTION DETECTED!!!");
 motionDetected = true;
}
void setup() {
 Serial.begin(115200);
 // PIR Motion Sensor mode INPUT_PULLUP
 pinMode(motionSensor, INPUT_PULLUP);
 // Set motionSensor pin as interrupt, assign interrupt function and set RISING mode
 attachInterrupt(digitalPinToInterrupt(motionSensor), detectsMovement, RISING);
 // Attempt to connect to Wifi network:
 Serial.print("Connecting Wifi: ");
 Serial.println(ssid);
 WiFi.mode(WIFI_STA);
 WiFi.begin(ssid, password);
 client.setCACert(TELEGRAM_CERTIFICATE_ROOT); // Add root certificate for api.telegram.org
 
 while (WiFi.status() != WL_CONNECTED) {
 Serial.print(".");
 delay(500);
 }
 Serial.println("");
 Serial.println("WiFi connected");
 Serial.print("IP address: ");
 Serial.println(WiFi.localIP());
 bot.sendMessage(CHAT_ID, "Bot started up", "");
}
void loop() {
 if(motionDetected){
 bot.sendMessage(CHAT_ID, "Motion detected!!", "");
 Serial.println("Motion Detected");
 motionDetected = false;
 }
}

Sketch 2: RFID door lock from enter link description here

/*
 * This ESP32 code is created by esp32io.com
 *
 * This ESP32 code is released in the public domain
 *
 * For more detail (instruction and wiring diagram), visit https://esp32io.com/tutorials/esp32-rfid-nfc-door-lock-system
 */
#include <SPI.h>
#include <MFRC522.h>
#define SS_PIN 5 // ESP32 pin GIOP5 
#define RST_PIN 27 // ESP32 pin GIOP27 
#define RELAY_PIN 22 // ESP32 pin GIOP22 connects to relay
MFRC522 rfid(SS_PIN, RST_PIN);
byte keyTagUID[4] = {0xFF, 0xFF, 0xFF, 0xFF};
void setup() {
 Serial.begin(9600);
 SPI.begin(); // init SPI bus
 rfid.PCD_Init(); // init MFRC522
 pinMode(RELAY_PIN, OUTPUT); // initialize pin as an output.
 digitalWrite(RELAY_PIN, HIGH); // lock the door
 Serial.println("Tap an RFID/NFC tag on the RFID-RC522 reader");
}
void loop() {
 if (rfid.PICC_IsNewCardPresent()) { // new tag is available
 if (rfid.PICC_ReadCardSerial()) { // NUID has been readed
 MFRC522::PICC_Type piccType = rfid.PICC_GetType(rfid.uid.sak);
 if (rfid.uid.uidByte[0] == keyTagUID[0] &&
 rfid.uid.uidByte[1] == keyTagUID[1] &&
 rfid.uid.uidByte[2] == keyTagUID[2] &&
 rfid.uid.uidByte[3] == keyTagUID[3] ) {
 Serial.println("Access is granted");
 digitalWrite(RELAY_PIN, LOW); // unlock the door for 2 seconds
 delay(2000);
 digitalWrite(RELAY_PIN, HIGH); // lock the door
 }
 else
 {
 Serial.print("Access denied, UID:");
 for (int i = 0; i < rfid.uid.size; i++) {
 Serial.print(rfid.uid.uidByte[i] < 0x10 ? " 0" : " ");
 Serial.print(rfid.uid.uidByte[i], HEX);
 }
 Serial.println();
 }
 rfid.PICC_HaltA(); // halt PICC
 rfid.PCD_StopCrypto1(); // stop encryption on PCD
 }
 }
}

Answer 1

No, you don't need an RTOS to do something simple like:

if (motionDetected)
 open_the_door ();

---

You basically have two loops:

void loop ()
 {
 if (motionDetected)
 send_a_message_to_open_the_door ();
 }

And:

void loop ()
 {
 if (message_received_to_open_the_door)
 open_the_door();
 }

So, you combine them into a single loop:

void loop ()
 {
 if (motionDetected)
 open_the_door();
 }

I'll leave you to make the actual code changes.