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changes from mueller/master taken over

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This commit is contained in:
Robin Müller
2020-12-14 23:56:44 +01:00
parent 313d898aef
commit 3cc053a581
11 changed files with 111 additions and 95 deletions
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38
osal/FreeRTOS/FreeRTOSTaskIF.h
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@ -1,13 +1,41 @@
#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
#ifndef FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
#define FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class FreeRTOSTaskIF {
public:
virtual~ FreeRTOSTaskIF() {}
virtual TaskHandle_t getTaskHandle() = 0;
virtual~ FreeRTOSTaskIF() {}
virtual TaskHandle_t getTaskHandle() = 0;
protected:
bool checkMissedDeadline(const TickType_t xLastWakeTime,
const TickType_t interval) {
/* Check whether deadline was missed while also taking overflows
* into account. Drawing this on paper with a timeline helps to understand
* it. */
TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval;
// Time to wake has not overflown.
if(timeToWake > xLastWakeTime) {
/* If the current time has overflown exclusively or the current
* tick count is simply larger than the time to wake, a deadline was
* missed */
if((currentTickCount < xLastWakeTime) or
(currentTickCount > timeToWake)) {
return true;
}
}
/* Time to wake has overflown. A deadline was missed if the current time
* is larger than the time to wake */
else if((timeToWake < xLastWakeTime) and
(currentTickCount > timeToWake)) {
return true;
}
return false;
}
};
#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */
#endif /* FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_ */