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important bugfix

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I checked all 5 cases for overflows when checking
for missed deadlines (there is current time, timeToWake
and lastWakeTime, with various combinations of overflows)

This should be the correct implementation now
This commit is contained in:
Robin Müller 2020-07-29 20:02:04 +02:00
parent c16675f69a
commit 652c60c362
2 changed files with 18 additions and 20 deletions
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19
osal/FreeRTOS/FixedTimeslotTask.cpp
View File

@ -125,19 +125,18 @@ void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
* it. */ * it. */
TickType_t currentTickCount = xTaskGetTickCount(); TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval; TickType_t timeToWake = xLastWakeTime + interval;
// Tick count has overflown // Time to wake has not overflown.
if(currentTickCount < xLastWakeTime) { if(timeToWake > xLastWakeTime) {
// Time to wake has overflown as well. If the tick count /* If the current time has overflown exclusively or the current
// is larger than the time to wake, a deadline was missed. * tick count is simply larger than the time to wake, a deadline was
if(timeToWake < xLastWakeTime and * missed */
currentTickCount > timeToWake) { if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
handleMissedDeadline(); handleMissedDeadline();
} }
} }
// No tick count overflow. If the timeToWake has not overflown /* Time to wake has overflown. A deadline was missed if the current time
// and the current tick count is larger than the time to wake, * is larger than the time to wake */
// a deadline was missed. else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
handleMissedDeadline(); handleMissedDeadline();
} }
} }

19
osal/FreeRTOS/PeriodicTask.cpp
View File

@ -108,19 +108,18 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
* it. */ * it. */
TickType_t currentTickCount = xTaskGetTickCount(); TickType_t currentTickCount = xTaskGetTickCount();
TickType_t timeToWake = xLastWakeTime + interval; TickType_t timeToWake = xLastWakeTime + interval;
// Tick count has overflown // Time to wake has not overflown.
if(currentTickCount < xLastWakeTime) { if(timeToWake > xLastWakeTime) {
// Time to wake has overflown as well. If the tick count /* If the current time has overflown exclusively or the current
// is larger than the time to wake, a deadline was missed. * tick count is simply larger than the time to wake, a deadline was
if(timeToWake < xLastWakeTime and * missed */
currentTickCount > timeToWake) { if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
handleMissedDeadline(); handleMissedDeadline();
} }
} }
// No tick count overflow. If the timeToWake has not overflown /* Time to wake has overflown. A deadline was missed if the current time
// and the current tick count is larger than the time to wake, * is larger than the time to wake */
// a deadline was missed. else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
else if(timeToWake > xLastWakeTime and currentTickCount > timeToWake) {
handleMissedDeadline(); handleMissedDeadline();
} }
} }