From 1415cd2339931cec2dda229782af069459a02f3d Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 23 Apr 2020 17:54:41 +0200
Subject: [PATCH] using newer bin semaph create call.

architecture dependant function call is external now and shall
be implemented by developer
---
 osal/FreeRTOS/BinarySemaphore.cpp | 24 +++++++++++++-----------
 osal/FreeRTOS/BinarySemaphore.h   |  8 ++++++--
 osal/FreeRTOS/TaskManagement.cpp  | 16 ++++++----------
 osal/FreeRTOS/TaskManagement.h    |  7 +++++++
 4 files changed, 32 insertions(+), 23 deletions(-)

diff --git a/osal/FreeRTOS/BinarySemaphore.cpp b/osal/FreeRTOS/BinarySemaphore.cpp
index b5f8e6c6..a6a923aa 100644
--- a/osal/FreeRTOS/BinarySemaphore.cpp
+++ b/osal/FreeRTOS/BinarySemaphore.cpp
@@ -8,16 +8,13 @@
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
-extern "C" {
-#include "portmacro.h"
-#include "task.h"
-}
-
 BinarySemaphore::BinarySemaphore() {
-	xSemaphoreCreateBinary(handle);
+	handle = xSemaphoreCreateBinary();
 	if(handle == nullptr) {
+
 		error << "Binary semaphore creation failure" << std::endl;
 	}
+	xSemaphoreGive(handle);
 }
 
 BinarySemaphore::~BinarySemaphore() {
@@ -27,36 +24,40 @@ BinarySemaphore::~BinarySemaphore() {
 // This copy ctor is important as it prevents the assignment to a ressource
 // (other.handle) variable which is later deleted!
 BinarySemaphore::BinarySemaphore(const BinarySemaphore& other) {
-    xSemaphoreCreateBinary(handle);
+    handle = xSemaphoreCreateBinary();
     if(handle == nullptr) {
         error << "Binary semaphore creation failure" << std::endl;
     }
+    xSemaphoreGive(handle);
 }
 
 BinarySemaphore& BinarySemaphore::operator =(const BinarySemaphore& s) {
     if(this != &s) {
-        xSemaphoreCreateBinary(handle);
+        handle = xSemaphoreCreateBinary();
         if(handle == nullptr) {
             error << "Binary semaphore creation failure" << std::endl;
         }
+        xSemaphoreGive(handle);
     }
     return *this;
 }
 
 BinarySemaphore::BinarySemaphore(BinarySemaphore&& s) {
-    xSemaphoreCreateBinary(handle);
+    handle = xSemaphoreCreateBinary();
     if(handle == nullptr) {
         error << "Binary semaphore creation failure" << std::endl;
     }
+    xSemaphoreGive(handle);
 }
 
 BinarySemaphore& BinarySemaphore::operator =(
         BinarySemaphore&& s) {
     if(&s != this) {
-        xSemaphoreCreateBinary(handle);
+        handle = xSemaphoreCreateBinary();
         if(handle == nullptr) {
             error << "Binary semaphore creation failure" << std::endl;
         }
+        xSemaphoreGive(handle);
     }
     return *this;
 }
@@ -127,7 +128,8 @@ ReturnValue_t BinarySemaphore::giveBinarySemaphore(SemaphoreHandle_t semaphore)
 void BinarySemaphore::resetSemaphore() {
 	if(handle != nullptr) {
 		vSemaphoreDelete(handle);
-		xSemaphoreCreateBinary(handle);
+		handle = xSemaphoreCreateBinary();
+		xSemaphoreGive(handle);
 	}
 }
 
diff --git a/osal/FreeRTOS/BinarySemaphore.h b/osal/FreeRTOS/BinarySemaphore.h
index 2203c923..0ab9cdea 100644
--- a/osal/FreeRTOS/BinarySemaphore.h
+++ b/osal/FreeRTOS/BinarySemaphore.h
@@ -18,6 +18,10 @@ extern "C" {
  * @brief OS Tool to achieve synchronization of between tasks or between task and ISR
  * @details
  * Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
+ *
+ * SHOULDDO: check freeRTOS version and use new task notifications,
+ * if non-ancient freeRTOS version is used.
+ *
  * @ingroup osal
  */
 class BinarySemaphore: public HasReturnvaluesIF {
@@ -68,8 +72,8 @@ public:
 
 	/**
 	 * Take the binary semaphore.
-	 * If the semaphore has already been taken, the task will be blocked for a maximum
-	 * of #timeoutMs or until the semaphore is given back,
+	 * If the semaphore has already been taken, the task will be blocked
+	 * for a maximum of #timeoutMs or until the semaphore is given back,
 	 * for example by an ISR or another task.
 	 * @param timeoutMs
 	 * @return -@c RETURN_OK on success
diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index 9946833d..d7ddaf38 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -5,16 +5,12 @@
  *
  */
 #include <framework/osal/FreeRTOS/TaskManagement.h>
-#include <FreeRTOS.h>
-#include "portmacro.h"
-#include "task.h"
 
-/**
- * TODO: This stuff is hardware and architecture and mission dependant...
- * 	     Some FreeRTOS implementations might be able to determine their own task context for example.
- * 	     If not ISRs are used, or task preemption is enabled, some of this stuff might
- * 	     not be necessary anyway. Maybe there is a better solution?
- */
+extern "C" {
+#include "FreeRTOS.h"
+#include "task.h"
+}
+
 void TaskManagement::requestContextSwitchFromTask() {
 	vTaskDelay(0);
 }
@@ -22,7 +18,7 @@ void TaskManagement::requestContextSwitchFromTask() {
 void TaskManagement::requestContextSwitch(CallContext callContext = CallContext::task) {
 	if(callContext == CallContext::isr) {
 		// This function depends on the partmacro.h definition for the specific device
-		portYIELD_FROM_ISR();
+		requestContextSwitchFromISR();
 	} else {
 		requestContextSwitchFromTask();
 	}
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index fd2bfc0b..c122e0fb 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -7,6 +7,12 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
 #define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
 
+/**
+ * Architecture dependant portmacro.h function call.
+ * Should be implemented in bsp.
+ */
+extern "C" void requestContextSwitchFromISR();
+
 /*!
  * Used by functions to tell if they are being called from
  * within an ISR or from a regular task. This is required because FreeRTOS
@@ -18,6 +24,7 @@ enum CallContext {
 	isr = 0xFF  //!< isr_context
 };
 
+
 class TaskManagement {
 public:
 	/**