From e61fdd0d5ef25108c64b467455971cf88a2f0b1c Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Sat, 8 Aug 2020 13:15:41 +0200 Subject: [PATCH 1/2] freeRTOS task management init --- osal/FreeRTOS/TaskManagement.cpp | 24 ++++++++++++ osal/FreeRTOS/TaskManagement.h | 64 ++++++++++++++++++++++++++++++++ 2 files changed, 88 insertions(+) create mode 100644 osal/FreeRTOS/TaskManagement.cpp create mode 100644 osal/FreeRTOS/TaskManagement.h diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp new file mode 100644 index 00000000..ff552adb --- /dev/null +++ b/osal/FreeRTOS/TaskManagement.cpp @@ -0,0 +1,24 @@ +#include + +void TaskManagement::vRequestContextSwitchFromTask() { + vTaskDelay(0); +} + +void TaskManagement::requestContextSwitch( + CallContext callContext = CallContext::TASK) { + if(callContext == CallContext::ISR) { + // This function depends on the partmacro.h definition for the specific device + vRequestContextSwitchFromISR(); + } else { + vRequestContextSwitchFromTask(); + } +} + +TaskHandle_t TaskManagement::getCurrentTaskHandle() { + return xTaskGetCurrentTaskHandle(); +} + +size_t TaskManagement::getTaskStackHighWatermark( + TaskHandle_t task) { + return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t); +} diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h new file mode 100644 index 00000000..62c68331 --- /dev/null +++ b/osal/FreeRTOS/TaskManagement.h @@ -0,0 +1,64 @@ +#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ +#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ + +#include + +extern "C" { +#include +#include +} +#include + +/** + * Architecture dependant portmacro.h function call. + * Should be implemented in bsp. + */ +extern void vRequestContextSwitchFromISR(); + +/*! + * Used by functions to tell if they are being called from + * 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. + */ +enum class CallContext { + TASK = 0x00,//!< task_context + ISR = 0xFF //!< isr_context +}; + + +class TaskManagement { +public: + /** + * @brief In this function, a function dependant on the portmacro.h header + * function calls 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 and a context switch is required. + */ + static void requestContextSwitch(CallContext callContext); + + /** + * If task preemption in FreeRTOS is disabled, a context switch + * can be requested manually by calling this function. + */ + static void vRequestContextSwitchFromTask(void); + + /** + * @return The current task handle + */ + static TaskHandle_t getCurrentTaskHandle(); + + /** + * Get returns the minimum amount of remaining stack space in words + * that was a available to the task since the task started executing. + * Please note that the actual value in bytes depends + * on the stack depth type. + * E.g. on a 32 bit machine, a value of 200 means 800 bytes. + * @return Smallest value of stack remaining since the task was started in + * words. + */ + static size_t getTaskStackHighWatermark( + TaskHandle_t task = nullptr); +}; + +#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */ From c0332a80a7218e45d7ba8dfc47028124530e6c98 Mon Sep 17 00:00:00 2001 From: "Robin.Mueller" Date: Tue, 25 Aug 2020 12:40:06 +0200 Subject: [PATCH 2/2] task management update --- osal/FreeRTOS/TaskManagement.cpp | 12 ++++++------ osal/FreeRTOS/TaskManagement.h | 20 ++++++++++---------- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp index ff552adb..16682d36 100644 --- a/osal/FreeRTOS/TaskManagement.cpp +++ b/osal/FreeRTOS/TaskManagement.cpp @@ -1,11 +1,11 @@ -#include - +#include "../../osal/FreeRTOS/TaskManagement.h" + void TaskManagement::vRequestContextSwitchFromTask() { vTaskDelay(0); } - + void TaskManagement::requestContextSwitch( - CallContext callContext = CallContext::TASK) { + CallContext callContext = CallContext::TASK) { if(callContext == CallContext::ISR) { // This function depends on the partmacro.h definition for the specific device vRequestContextSwitchFromISR(); @@ -13,7 +13,7 @@ void TaskManagement::requestContextSwitch( vRequestContextSwitchFromTask(); } } - + TaskHandle_t TaskManagement::getCurrentTaskHandle() { return xTaskGetCurrentTaskHandle(); } @@ -21,4 +21,4 @@ TaskHandle_t TaskManagement::getCurrentTaskHandle() { size_t TaskManagement::getTaskStackHighWatermark( TaskHandle_t task) { return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t); -} +} diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h index 62c68331..43003d76 100644 --- a/osal/FreeRTOS/TaskManagement.h +++ b/osal/FreeRTOS/TaskManagement.h @@ -1,14 +1,14 @@ #ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ #define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ -#include +#include "../../returnvalues/HasReturnvaluesIF.h" extern "C" { #include #include } #include - + /** * Architecture dependant portmacro.h function call. * Should be implemented in bsp. @@ -17,9 +17,9 @@ extern void vRequestContextSwitchFromISR(); /*! * Used by functions to tell if they are being called from - * within an ISR or from a regular task. This is required because FreeRTOS + * 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. + * an ISR and task. */ enum class CallContext { TASK = 0x00,//!< task_context @@ -29,19 +29,19 @@ enum class CallContext { class TaskManagement { public: - /** + /** * @brief In this function, a function dependant on the portmacro.h header * function calls 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 and a context switch is required. + * to unblock and a context switch is required. */ static void requestContextSwitch(CallContext callContext); /** * If task preemption in FreeRTOS is disabled, a context switch * can be requested manually by calling this function. - */ - static void vRequestContextSwitchFromTask(void); + */ + static void vRequestContextSwitchFromTask(void); /** * @return The current task handle @@ -56,9 +56,9 @@ public: * E.g. on a 32 bit machine, a value of 200 means 800 bytes. * @return Smallest value of stack remaining since the task was started in * words. - */ + */ static size_t getTaskStackHighWatermark( - TaskHandle_t task = nullptr); + TaskHandle_t task = nullptr); }; #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */