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all context switches calls to TaskManagement.h now

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This commit is contained in:
Robin Müller 2020-02-28 22:55:25 +01:00
parent c93ee5c6cd
commit fa38a37604
6 changed files with 48 additions and 43 deletions
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8
osal/FreeRTOS/BinarySemaphore.cpp
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@ -4,6 +4,8 @@
* @date 25.02.2020 * @date 25.02.2020
*/ */
#include <framework/osal/FreeRTOS/BinarySemaphore.h> #include <framework/osal/FreeRTOS/BinarySemaphore.h>
#include <framework/osal/FreeRTOS/TaskManagement.h>
#include <framework/serviceinterface/ServiceInterfaceStream.h> #include <framework/serviceinterface/ServiceInterfaceStream.h>
#include "portmacro.h" #include "portmacro.h"
#include "task.h" #include "task.h"
@ -65,7 +67,7 @@ SemaphoreHandle_t BinarySemaphore::getSemaphore() {
return handle; return handle;
} }
ReturnValue_t giveBinarySemaphore(SemaphoreHandle_t semaphore) { ReturnValue_t BinarySemaphore::giveBinarySemaphore(SemaphoreHandle_t semaphore) {
if (semaphore == NULL) { if (semaphore == NULL) {
return HasReturnvaluesIF::RETURN_FAILED; 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) { BaseType_t * higherPriorityTaskWoken) {
if (semaphore == NULL) { if (semaphore == NULL) {
return HasReturnvaluesIF::RETURN_FAILED; return HasReturnvaluesIF::RETURN_FAILED;
@ -86,7 +88,7 @@ ReturnValue_t giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
if (returncode == pdPASS) { if (returncode == pdPASS) {
if(*higherPriorityTaskWoken == pdPASS) { if(*higherPriorityTaskWoken == pdPASS) {
// Request context switch // Request context switch
portYIELD_FROM_ISR(); TaskManagement::requestContextSwitch(SystemContext::isr_context);
} }
return HasReturnvaluesIF::RETURN_OK; return HasReturnvaluesIF::RETURN_OK;
} else { } else {

14
osal/FreeRTOS/BinarySemaphore.h
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@ -68,9 +68,6 @@ public:
* @return * @return
*/ */
SemaphoreHandle_t getSemaphore(); SemaphoreHandle_t getSemaphore();
private:
SemaphoreHandle_t handle;
};
/** /**
* Wrapper function to give back semaphore from handle * Wrapper function to give back semaphore from handle
@ -78,7 +75,7 @@ private:
* @return -@c RETURN_OK on success * @return -@c RETURN_OK on success
* -@c RETURN_FAILED on failure * -@c RETURN_FAILED on failure
*/ */
ReturnValue_t giveBinarySemaphore(SemaphoreHandle_t semaphore); static ReturnValue_t giveBinarySemaphore(SemaphoreHandle_t semaphore);
/** /**
* Wrapper function to give back semaphore from handle when called from an ISR * Wrapper function to give back semaphore from handle when called from an ISR
@ -88,7 +85,14 @@ ReturnValue_t giveBinarySemaphore(SemaphoreHandle_t semaphore);
* @return -@c RETURN_OK on success * @return -@c RETURN_OK on success
* -@c RETURN_FAILED on failure * -@c RETURN_FAILED on failure
*/ */
ReturnValue_t giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore, static ReturnValue_t giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
BaseType_t * higherPriorityTaskWoken); BaseType_t * higherPriorityTaskWoken);
private:
SemaphoreHandle_t handle;
};
#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */ #endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

2
osal/FreeRTOS/MessageQueue.cpp
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@ -65,7 +65,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
result = xQueueSendFromISR(reinterpret_cast<void*>(sendTo), result = xQueueSendFromISR(reinterpret_cast<void*>(sendTo),
reinterpret_cast<const void*>(message->getBuffer()), &xHigherPriorityTaskWoken); reinterpret_cast<const void*>(message->getBuffer()), &xHigherPriorityTaskWoken);
if(xHigherPriorityTaskWoken == pdTRUE) { if(xHigherPriorityTaskWoken == pdTRUE) {
requestContextSwitch(callContext); TaskManagement::requestContextSwitch(callContext);
} }
} }
return handleSendResult(result, ignoreFault); return handleSendResult(result, ignoreFault);

5
osal/FreeRTOS/MessageQueue.h
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@ -58,11 +58,6 @@ public:
*/ */
virtual ~MessageQueue(); 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); void switchSystemContext(SystemContext callContext);
/** /**

6
osal/FreeRTOS/TaskManagement.cpp
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@ -9,11 +9,11 @@
#include "portmacro.h" #include "portmacro.h"
#include "task.h" #include "task.h"
void requestContextSwitchFromTask() { void TaskManagement::requestContextSwitchFromTask() {
vTaskDelay(0); vTaskDelay(0);
} }
void requestContextSwitch(SystemContext callContext) { void TaskManagement::requestContextSwitch(SystemContext callContext = SystemContext::task_context) {
if(callContext == SystemContext::isr_context) { if(callContext == SystemContext::isr_context) {
// This function depends on the partmacro.h definition for the specific device // This function depends on the partmacro.h definition for the specific device
portYIELD_FROM_ISR(); portYIELD_FROM_ISR();
@ -22,3 +22,5 @@ void requestContextSwitch(SystemContext callContext) {
} }
} }

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