ipc/MutexIF.h

@@ -3,6 +3,13 @@
 
 #include <framework/returnvalues/HasReturnvaluesIF.h>
 
+/**
+ * @brief Common interface for OS Mutex objects which provide MUTual EXclusion.
+ *
+ * @details https://en.wikipedia.org/wiki/Lock_(computer_science)
+ * @ingroup osal
+ * @ingroup interface
+ */
 class MutexIF {
 public:
 	static const uint32_t NO_TIMEOUT; //!< Needs to be defined in implementation.

osal/FreeRTOS/BinarySemaphore.cpp

@@ -3,7 +3,93 @@
  *
  * @date 25.02.2020
  */
+#include <framework/osal/FreeRTOS/BinarySemaphore.h>
+#include <framework/serviceinterface/ServiceInterfaceStream.h>
+#include "portmacro.h"
+#include "task.h"
 
+BinarySemaphore::BinarySemaphore() {
+	vSemaphoreCreateBinary(handle);
+	if(handle == NULL) {
+		error << "Binary semaphore creation failure" << std::endl;
+	}
+}
 
+BinarySemaphore::~BinarySemaphore() {
+	vSemaphoreDelete(handle);
+}
 
+ReturnValue_t BinarySemaphore::takeBinarySemaphore(uint32_t timeoutMs) {
+	if(handle == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	TickType_t timeout = portMAX_DELAY;
+	if(timeoutMs != 0) {
+		timeout = pdMS_TO_TICKS(timeoutMs);
+	}
 
+	BaseType_t returncode = xSemaphoreTake(handle, timeout);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return SEMAPHORE_NOT_FOUND;
+	}
+}
+
+ReturnValue_t BinarySemaphore::takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks) {
+	if(handle == NULL) {
+		return SEMAPHORE_NOT_FOUND;
+	}
+
+	BaseType_t returncode = xSemaphoreTake(handle, timeoutTicks);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return SEMAPHORE_TIMEOUT;
+	}
+}
+
+ReturnValue_t BinarySemaphore::giveBinarySemaphore() {
+	if (handle == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	BaseType_t returncode = xSemaphoreGive(handle);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return SEMAPHORE_NOT_OWNED;
+	}
+}
+
+SemaphoreHandle_t BinarySemaphore::getSemaphore() {
+	return handle;
+}
+
+ReturnValue_t giveBinarySemaphore(SemaphoreHandle_t semaphore) {
+	if (semaphore == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	BaseType_t returncode = xSemaphoreGive(semaphore);
+	if (returncode == pdPASS) {
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}
+
+ReturnValue_t giveBinarySemaphoreFromISR(SemaphoreHandle_t semaphore,
+		BaseType_t * higherPriorityTaskWoken) {
+	if (semaphore == NULL) {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+	BaseType_t returncode = xSemaphoreGiveFromISR(semaphore, higherPriorityTaskWoken);
+	if (returncode == pdPASS) {
+		if(*higherPriorityTaskWoken == pdPASS) {
+			// Request context switch
+			portYIELD_FROM_ISR();
+		}
+		return HasReturnvaluesIF::RETURN_OK;
+	} else {
+		return HasReturnvaluesIF::RETURN_FAILED;
+	}
+}

osal/FreeRTOS/BinarySemaphore.h

@@ -0,0 +1,94 @@
+/**
+ * @file BinarySempahore.h
+ *
+ * @date 25.02.2020
+ */
+#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
+
+#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include <FreeRTOS.h>
+#include "semphr.h"
+
+/**
+ * @brief OS Tool to achieve synchronization of between tasks or between task and ISR
+ * @details
+ * Documentation: https://www.freertos.org/Embedded-RTOS-Binary-Semaphores.html
+ * @ingroup osal
+ */
+class BinarySemaphore: public HasReturnvaluesIF {
+public:
+	static const uint8_t INTERFACE_ID = CLASS_ID::SEMAPHORE_IF;
+
+	/** Semaphore object not found */
+	static const ReturnValue_t SEMAPHORE_NOT_FOUND = MAKE_RETURN_CODE(1);
+	/** Semaphore timeout */
+	static const ReturnValue_t SEMAPHORE_TIMEOUT = MAKE_RETURN_CODE(2);
+	/** The current semaphore can not be given, because it is not owned */
+	static const ReturnValue_t SEMAPHORE_NOT_OWNED = MAKE_RETURN_CODE(3);
+
+	/**
+	 * Create a binary semaphore
+	 */
+	BinarySemaphore();
+
+	/**
+	 * Delete the binary semaphore to prevent a memory leak
+	 */
+	~BinarySemaphore();
+
+	/**
+	 * Take the binary semaphore.
+	 * If the semaphore has already been taken, the task will be blocked for a maximum
+	 * of #timeoutMs or until the semaphore is given back,
+	 * for example by an ISR or another task.
+	 * @param timeoutMs
+	 * @return -@c RETURN_OK on success
+	 *         -@c RETURN_FAILED on failure
+	 */
+	ReturnValue_t takeBinarySemaphore(uint32_t timeoutMs);
+
+	/**
+	 * Same as lockBinarySemaphore() with timeout in FreeRTOS ticks.
+	 * @param timeoutTicks
+	 * @return -@c RETURN_OK on success
+	 *         -@c RETURN_FAILED on failure
+	 */
+	ReturnValue_t takeBinarySemaphoreTickTimeout(TickType_t timeoutTicks);
+
+	/**
+	 * Give back the binary semaphore
+	 * @return -@c RETURN_OK on success
+	 *         -@c RETURN_FAILED on failure
+	 */
+	ReturnValue_t giveBinarySemaphore();
+
+	/**
+	 * Get Handle to the semaphore.
+	 * @return
+	 */
+	SemaphoreHandle_t getSemaphore();
+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/BinarySempahore.h

@@ -1,14 +0,0 @@
-/**
- * @file BinarySempahore.h
- *
- * @date 25.02.2020
- */
-
-#ifndef FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
-#define FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_
-
-
-
-
-
-#endif /* FRAMEWORK_OSAL_FREERTOS_BINARYSEMPAHORE_H_ */

osal/FreeRTOS/MessageQueue.cpp

@@ -1,5 +1,4 @@
 #include "MessageQueue.h"
-#include "task.h"
 
 #include <framework/serviceinterface/ServiceInterfaceStream.h>
 
@@ -24,6 +23,12 @@ void MessageQueue::switchSystemContext(SystemContext callContext) {
 	this->callContext = callContext;
 }
 
+void MessageQueue::requestContextSwitch(SystemContext callContext) {
+	if(callContext == SystemContext::isr_context) {
+		portYIELD_FROM_ISR();
+	}
+}
+
 ReturnValue_t MessageQueue::sendMessage(MessageQueueId_t sendTo,
 		MessageQueueMessage* message, bool ignoreFault) {
 	return sendMessageFrom(sendTo, message, this->getId(), ignoreFault);
@@ -72,11 +77,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 	return handleSendResult(result, ignoreFault);
 }
 
-void MessageQueue::requestContextSwitch(SystemContext callContext) {
+
-	if(callContext == SystemContext::isr_context) {
-		portYIELD_FROM_ISR();
-	}
-}
 
 ReturnValue_t MessageQueue::handleSendResult(BaseType_t result, bool ignoreFault) {
 	if (result != pdPASS) {

osal/FreeRTOS/MessageQueue.h

@@ -8,6 +8,7 @@
 #include <FreeRTOS.h>
 #include "queue.h"
 #include "portmacro.h"
+#include "task.h"
 
 //TODO this class assumes that MessageQueueId_t is the same size as void* (the FreeRTOS handle type), compiler will catch this but it might be nice to have something checking or even an always working solution
 // https://scaryreasoner.wordpress.com/2009/02/28/checking-sizeof-at-compile-time/

osal/FreeRTOS/Mutex.cpp

@@ -37,8 +37,7 @@ ReturnValue_t Mutex::lockMutex(uint32_t timeoutMs) {
 
 ReturnValue_t Mutex::unlockMutex() {
 	if (handle == 0) {
-		//TODO Does not exist
+		return MutexIF::MUTEX_NOT_FOUND;
-		return HasReturnvaluesIF::RETURN_FAILED;
 	}
 	BaseType_t returncode = xSemaphoreGive(handle);
 	if (returncode == pdPASS) {

osal/FreeRTOS/Mutex.h

@@ -1,5 +1,5 @@
-#ifndef OS_RTEMS_MUTEX_H_
+#ifndef FRAMEWORK_FREERTOS_MUTEX_H_
-#define OS_RTEMS_MUTEX_H_
+#define FRAMEWORK_FREERTOS_MUTEX_H_
 
 #include <framework/ipc/MutexIF.h>
 
@@ -8,7 +8,11 @@
 #include "semphr.h"
 
 /**
+ * @brief OS component to implement MUTual EXclusion
  *
+ * @details
+ * Mutexes are binary semaphores which include a priority inheritance mechanism.
+ * Documentation: https://www.freertos.org/Real-time-embedded-RTOS-mutexes.html
  * @ingroup osal
  */
 class Mutex : public MutexIF {
@@ -21,4 +25,4 @@ private:
 	SemaphoreHandle_t handle;
 };
 
-#endif /* OS_RTEMS_MUTEX_H_ */
+#endif /* FRAMEWORK_FREERTOS_MUTEX_H_ */

returnvalues/FwClassIds.h

@@ -60,6 +60,7 @@ enum {
 	SGP4PROPAGATOR_CLASS, //SGP4 53
 	MUTEX_IF, //MUX 54
 	MESSAGE_QUEUE_IF,//MQI 55
+	SEMAPHORE_IF, //SPH 56
 	FW_CLASS_ID_COUNT //is actually count + 1 !
 
 };