Merge branch 'mueller_framework' of https://egit.irs.uni-stuttgart.de/KSat/fsfw into mueller_framework

osal/FreeRTOS/BinarySemaphore.cpp

@@ -4,6 +4,8 @@
  * @date 25.02.2020
  */
 #include <framework/osal/FreeRTOS/BinarySemaphore.h>
+#include <framework/osal/FreeRTOS/TaskManagement.h>
+
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 #include "portmacro.h"
 #include "task.h"
@@ -65,7 +67,7 @@ SemaphoreHandle_t BinarySemaphore::getSemaphore() {
 	return handle;
 }
 
-ReturnValue_t giveBinarySemaphore(SemaphoreHandle_t semaphore) {
+ReturnValue_t BinarySemaphore::giveBinarySemaphore(SemaphoreHandle_t semaphore) {
 	if (semaphore == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
 	}
@@ -77,7 +79,7 @@ ReturnValue_t giveBinarySemaphore(SemaphoreHandle_t semaphore) {
 	}
 }
 
-ReturnValue_t giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
+ReturnValue_t BinarySemaphore::giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
 		BaseType_t * higherPriorityTaskWoken) {
 	if (semaphore == NULL) {
 		return HasReturnvaluesIF::RETURN_FAILED;
@@ -86,7 +88,7 @@ ReturnValue_t giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
 	if (returncode == pdPASS) {
 		if(*higherPriorityTaskWoken == pdPASS) {
 			// Request context switch
-			portYIELD_FROM_ISR();
+			TaskManagement::requestContextSwitch(SystemContext::isr_context);
 		}
 		return HasReturnvaluesIF::RETURN_OK;
 	} else {

osal/FreeRTOS/BinarySemaphore.h

@@ -68,27 +68,31 @@ public:
 	 * @return
 	 */
 	SemaphoreHandle_t getSemaphore();
+
+	 /**
+	 * Wrapper function to give back semaphore from handle
+	 * @param semaphore
+	 * @return -@c RETURN_OK on success
+	 *         -@c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t giveBinarySemaphore(SemaphoreHandle_t semaphore);
+
+	/**
+	 * Wrapper function to give back semaphore from handle when called from an ISR
+	 * @param semaphore
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with a higher priority
+	 *        was unblocked
+	 * @return -@c RETURN_OK on success
+	 *         -@c RETURN_FAILED on failure
+	 */
+	static ReturnValue_t giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
+				BaseType_t * higherPriorityTaskWoken);
 private:
 	SemaphoreHandle_t handle;
 };
 
-/**
- * Wrapper function to give back semaphore from handle
- * @param semaphore
- * @return -@c RETURN_OK on success
- *         -@c RETURN_FAILED on failure
- */
-ReturnValue_t giveBinarySemaphore(SemaphoreHandle_t semaphore);
 
-/**
+
- * Wrapper function to give back semaphore from handle when called from an ISR
+
- * @param semaphore
- * @param higherPriorityTaskWoken This will be set to pdPASS if a task with a higher priority
- *        was unblocked
- * @return -@c RETURN_OK on success
- *         -@c RETURN_FAILED on failure
- */
-ReturnValue_t giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
-			BaseType_t * higherPriorityTaskWoken);
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

osal/FreeRTOS/MessageQueue.cpp

@@ -65,7 +65,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 		result = xQueueSendFromISR(reinterpret_cast<void*>(sendTo),
 				reinterpret_cast<const void*>(message->getBuffer()), &xHigherPriorityTaskWoken);
 		if(xHigherPriorityTaskWoken == pdTRUE) {
-			requestContextSwitch(callContext);
+			TaskManagement::requestContextSwitch(callContext);
 		}
 	}
 	return handleSendResult(result, ignoreFault);

osal/FreeRTOS/MessageQueue.h

@@ -58,11 +58,6 @@ public:
 	 */
 	virtual ~MessageQueue();
 
-	/**
-	 * This function is used to specify whether a message queue operation is called
-	 * from within an ISR or a task. FreeRTOS offers different functions for this task.
-	 * @param callContext
-	 */
 	void switchSystemContext(SystemContext callContext);
 
 	/**

osal/FreeRTOS/TaskManagement.cpp

@@ -15,11 +15,11 @@
  * 	     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?
  */
-void requestContextSwitchFromTask() {
+void TaskManagement::requestContextSwitchFromTask() {
 	vTaskDelay(0);
 }
 
-void requestContextSwitch(SystemContext callContext) {
+void TaskManagement::requestContextSwitch(SystemContext callContext = SystemContext::task_context) {
 	if(callContext == SystemContext::isr_context) {
 		// This function depends on the partmacro.h definition for the specific device
 		portYIELD_FROM_ISR();
@@ -28,3 +28,5 @@ void requestContextSwitch(SystemContext callContext) {
 	}
 }
 
+
+

osal/FreeRTOS/TaskManagement.h

@@ -12,24 +12,26 @@
  * within an ISR or from a regular task. This is required because FreeRTOS
  * has different functions for handling semaphores and messages from within an ISR and task.
  */
-typedef enum _SystemContext {
+enum SystemContext {
 	task_context = 0x00,//!< task_context
 	isr_context = 0xFF  //!< isr_context
-} SystemContext;
+};
 
-/**
+class TaskManagement {
- * In this function, a function dependant on the portmacro.h header function calls
+public:
- * to request a context switch can be specified.
+	/**
- * This can be used if sending to the queue from an ISR caused a task to unblock
+	 * In this function, a function dependant on the portmacro.h header function calls
- * and a context switch is required.
+	 * to request a context switch can be specified.
- */
+	 * This can be used if sending to the queue from an ISR caused a task to unblock
-void requestContextSwitch(SystemContext callContext);
+	 * and a context switch is required.
-
+	 */
-/**
+	static void requestContextSwitch(SystemContext callContext);
- * If task preemption in FreeRTOS is disabled, a context switch
- * can be requested manually by calling this function.
- */
-void requestContextSwitch(void);
 
+	/**
+	 * If task preemption in FreeRTOS is disabled, a context switch
+	 * can be requested manually by calling this function.
+	 */
+	static void requestContextSwitchFromTask(void);
+};
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */