38 lines
1.3 KiB
C++
38 lines
1.3 KiB
C++
#ifndef FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
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#define FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
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#include "FreeRTOS.h"
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#include "task.h"
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class FreeRTOSTaskIF {
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public:
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virtual ~FreeRTOSTaskIF() = default;
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virtual TaskHandle_t getTaskHandle() = 0;
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protected:
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static bool checkMissedDeadline(const TickType_t xLastWakeTime, const TickType_t interval) {
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/* Check whether deadline was missed while also taking overflows
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* into account. Drawing this on paper with a timeline helps to understand
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* it. */
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TickType_t currentTickCount = xTaskGetTickCount();
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TickType_t timeToWake = xLastWakeTime + interval;
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// Time to wake has not overflown.
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if (timeToWake > xLastWakeTime) {
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/* If the current time has overflown exclusively or the current
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* tick count is simply larger than the time to wake, a deadline was
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* missed */
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if ((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
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return true;
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}
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}
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/* Time to wake has overflown. A deadline was missed if the current time
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* is larger than the time to wake */
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else if ((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
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return true;
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}
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return false;
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}
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};
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#endif /* FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_ */
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