osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -114,4 +114,3 @@ ReturnValue_t FixedTimeslotTask::sleepFor(uint32_t ms) {
 	vTaskDelay(pdMS_TO_TICKS(ms));
 	return HasReturnvaluesIF::RETURN_OK;
 }
-

osal/FreeRTOS/FixedTimeslotTask.h

@@ -51,6 +51,7 @@ public:
 	ReturnValue_t checkSequence() const;
 
 	ReturnValue_t sleepFor(uint32_t ms);
+
 protected:
 	bool started;
 	TaskHandle_t handle;

osal/FreeRTOS/MessageQueue.cpp

@@ -23,12 +23,6 @@ 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);

osal/FreeRTOS/MessageQueue.h

@@ -4,11 +4,11 @@
 #include <framework/internalError/InternalErrorReporterIF.h>
 #include <framework/ipc/MessageQueueIF.h>
 #include <framework/ipc/MessageQueueMessage.h>
+#include <framework/osal/FreeRTOS/TaskManagement.h>
 
 #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/
@@ -58,16 +58,6 @@ public:
 	 */
 	virtual ~MessageQueue();
 
-	/*!
-	 * Used by calling function to tell the callbacks 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 from within an ISR and task.
-	 */
-	typedef enum _SystemContext {
-		task_context = 0x00,//!< task_context
-		isr_context = 0xFF  //!< isr_context
-	} SystemContext;
-
 	/**
 	 * 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.
@@ -187,13 +177,7 @@ protected:
 
 	static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
 
-	/**
+
-	 * 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(SystemContext callContext);
 private:
 	QueueHandle_t handle;
 	MessageQueueId_t defaultDestination;

osal/FreeRTOS/PeriodicTask.h

@@ -1,5 +1,5 @@
-#ifndef MULTIOBJECTTASK_H_
+#ifndef PERIODICTASK_H_
-#define MULTIOBJECTTASK_H_
+#define PERIODICTASK_H_
 
 #include <framework/objectmanager/ObjectManagerIF.h>
 #include <framework/tasks/PeriodicTaskIF.h>
@@ -107,4 +107,4 @@ protected:
 	void taskFunctionality(void);
 };
 
-#endif /* MULTIOBJECTTASK_H_ */
+#endif /* PERIODICTASK_H_ */

osal/FreeRTOS/TaskManagement.cpp

@@ -0,0 +1,24 @@
+/**
+ * @file TaskManagement.cpp
+ *
+ * @date 26.02.2020
+ *
+ */
+#include <framework/osal/FreeRTOS/TaskManagement.h>
+#include <FreeRTOS.h>
+#include "portmacro.h"
+#include "task.h"
+
+void requestContextSwitchFromTask() {
+	vTaskDelay(0);
+}
+
+void requestContextSwitch(SystemContext callContext) {
+	if(callContext == SystemContext::isr_context) {
+		// This function depends on the partmacro.h definition for the specific device
+		portYIELD_FROM_ISR();
+	} else {
+		requestContextSwitchFromTask();
+	}
+}
+

osal/FreeRTOS/TaskManagement.h

@@ -0,0 +1,35 @@
+/**
+ * @file TaskManagement.h
+ *
+ * @date 26.02.2020
+ */
+
+#ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+#define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
+
+/*!
+ * 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.
+ */
+typedef enum _SystemContext {
+	task_context = 0x00,//!< task_context
+	isr_context = 0xFF  //!< isr_context
+} SystemContext;
+
+/**
+ * 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.
+ */
+void requestContextSwitch(SystemContext callContext);
+
+/**
+ * If task preemption in FreeRTOS is disabled, a context switch
+ * can be requested manually by calling this function.
+ */
+void requestContextSwitch(void);
+
+
+#endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */