osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -157,3 +157,6 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	return HasReturnvaluesIF::RETURN_OK;
 }
 
+TaskHandle_t FixedTimeslotTask::getTaskHandle() const {
+    return handle;
+}

osal/FreeRTOS/FixedTimeslotTask.h

@@ -57,6 +57,8 @@ public:
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
 
+	TaskHandle_t getTaskHandle() const;
+
 protected:
 	bool started;
 	TaskHandle_t handle;

osal/FreeRTOS/PeriodicTask.cpp

@@ -126,6 +126,10 @@ void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
     }
 }
 
+TaskHandle_t PeriodicTask::getTaskHandle() const {
+    return handle;
+}
+
 void PeriodicTask::handleMissedDeadline() {
 #ifdef DEBUG
     sif::warning << "PeriodicTask: " << pcTaskGetName(NULL) <<

osal/FreeRTOS/PeriodicTask.h

@@ -69,6 +69,8 @@ public:
 	uint32_t getPeriodMs() const override;
 
 	ReturnValue_t sleepFor(uint32_t ms) override;
+
+	TaskHandle_t getTaskHandle() const;
 protected:
 	bool started;
 	TaskHandle_t handle;

osal/FreeRTOS/TaskManagement.cpp

@@ -18,6 +18,7 @@ TaskHandle_t TaskManagement::getCurrentTaskHandle() {
 	return xTaskGetCurrentTaskHandle();
 }
 
-configSTACK_DEPTH_TYPE TaskManagement::getTaskStackHighWatermark() {
+configSTACK_DEPTH_TYPE TaskManagement::getTaskStackHighWatermark(
-	return uxTaskGetStackHighWaterMark(TaskManagement::getCurrentTaskHandle());
+        TaskHandle_t task) {
+	return uxTaskGetStackHighWaterMark(task);
 }

osal/FreeRTOS/TaskManagement.h

@@ -57,7 +57,8 @@ public:
 	 * @return Smallest value of stack remaining since the task was started in
 	 * 		   words.
 	 */
-	static configSTACK_DEPTH_TYPE getTaskStackHighWatermark();
+	static configSTACK_DEPTH_TYPE getTaskStackHighWatermark(
+	        TaskHandle_t task = nullptr);
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */