removed context switch request

(shall be done at end of ISR, so must be performed by caller)

osal/FreeRTOS/BinSemaphUsingTask.cpp

@@ -75,7 +75,7 @@ uint8_t BinarySemaphoreUsingTask::getSemaphoreCounter(
 // Be careful with the stack size here. This is called from an ISR!
 ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
 		TaskHandle_t taskHandle, BaseType_t * higherPriorityTaskWoken) {
-	if(getSemaphoreCounterFromISR(taskHandle) == 1) {
+	if(getSemaphoreCounterFromISR(taskHandle, higherPriorityTaskWoken) == 1) {
 		return SemaphoreIF::SEMAPHORE_NOT_OWNED;
 	}
 	vTaskNotifyGiveFromISR(taskHandle, higherPriorityTaskWoken);
@@ -83,10 +83,9 @@ ReturnValue_t BinarySemaphoreUsingTask::releaseFromISR(
 }
 
 uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
-		TaskHandle_t taskHandle) {
-	uint32_t notificationValue;
-	BaseType_t higherPriorityTaskWoken;
+		TaskHandle_t taskHandle, BaseType_t* higherPriorityTaskWoken) {
+	uint32_t notificationValue = 0;
 	xTaskNotifyAndQueryFromISR(taskHandle, 0, eNoAction, &notificationValue,
-			&higherPriorityTaskWoken);
+			higherPriorityTaskWoken);
 	return notificationValue;
 }

osal/FreeRTOS/BinSemaphUsingTask.h

@@ -32,7 +32,8 @@ public:
 	ReturnValue_t release() override;
 	uint8_t getSemaphoreCounter() const override;
 	static uint8_t getSemaphoreCounter(TaskHandle_t taskHandle);
-	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle);
+	static uint8_t getSemaphoreCounterFromISR(TaskHandle_t taskHandle,
+			BaseType_t* higherPriorityTaskWoken);
 
 	/**
 	 * Same as acquire() with timeout in FreeRTOS ticks.

osal/FreeRTOS/BinarySemaphore.cpp

@@ -36,9 +36,6 @@ BinarySemaphore& BinarySemaphore::operator =(
 }
 
 ReturnValue_t BinarySemaphore::acquire(uint32_t timeoutMs) {
-	if(handle == nullptr) {
-		return SemaphoreIF::SEMAPHORE_INVALID;
-	}
 	TickType_t timeout = SemaphoreIF::NO_TIMEOUT;
 	if(timeoutMs == SemaphoreIF::MAX_TIMEOUT) {
 	    timeout = SemaphoreIF::MAX_TIMEOUT;
@@ -97,12 +94,6 @@ ReturnValue_t BinarySemaphore::releaseFromISR(
 	}
 	BaseType_t returncode = xSemaphoreGiveFromISR(semaphore,
 			higherPriorityTaskWoken);
-	// This should propably be called at the end of the (calling) ISR
-	//if(*higherPriorityTaskWoken == pdPASS) {
-		// Request context switch because unblocking the semaphore
-		// caused a high priority task unblock.
-		//TaskManagement::requestContextSwitch(CallContext::isr);
-	//}
 	if (returncode == pdPASS) {
 		return HasReturnvaluesIF::RETURN_OK;
 	}

osal/FreeRTOS/BinarySemaphore.h

@@ -92,8 +92,9 @@ public:
 	/**
 	 * 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
+	 * @param higherPriorityTaskWoken This will be set to pdPASS if a task with
+	 * a higher priority was unblocked. A context switch from an ISR should
+	 * then be requested (see TaskManagement functions)
 	 * @return -@c RETURN_OK on success
 	 *         -@c SemaphoreIF::SEMAPHORE_NOT_OWNED if the semaphores is
 	 *         	already available.

osal/FreeRTOS/MessageQueue.cpp

@@ -124,7 +124,7 @@ ReturnValue_t MessageQueue::sendMessageFromMessageQueue(MessageQueueId_t sendTo,
         bool ignoreFault, CallContext callContext) {
     message->setSender(sentFrom);
     BaseType_t result;
-    if(callContext == CallContext::task) {
+    if(callContext == CallContext::TASK) {
         result = xQueueSendToBack(reinterpret_cast<QueueHandle_t>(sendTo),
                 static_cast<const void*>(message->getBuffer()), 0);
     }

osal/FreeRTOS/MessageQueue.h

@@ -199,7 +199,7 @@ protected:
 	 */
 	static ReturnValue_t sendMessageFromMessageQueue(MessageQueueId_t sendTo,
 			MessageQueueMessage* message, MessageQueueId_t sentFrom = NO_QUEUE,
-			bool ignoreFault=false, CallContext callContext = CallContext::task);
+			bool ignoreFault=false, CallContext callContext = CallContext::TASK);
 
 	static ReturnValue_t handleSendResult(BaseType_t result, bool ignoreFault);
 
@@ -209,7 +209,7 @@ private:
 	MessageQueueId_t defaultDestination = 0;
 	MessageQueueId_t lastPartner = 0;
 	//!< Stores the current system context
-	CallContext callContext =  CallContext::task;
+	CallContext callContext =  CallContext::TASK;
 };
 
 #endif /* MESSAGEQUEUE_H_ */

osal/FreeRTOS/TaskManagement.cpp

@@ -5,8 +5,8 @@ void TaskManagement::requestContextSwitchFromTask() {
 }
 
 void TaskManagement::requestContextSwitch(
-		CallContext callContext = CallContext::task) {
-	if(callContext == CallContext::isr) {
+		CallContext callContext = CallContext::TASK) {
+	if(callContext == CallContext::ISR) {
 		// This function depends on the partmacro.h definition for the specific device
 		requestContextSwitchFromISR();
 	} else {

osal/FreeRTOS/TaskManagement.h

@@ -21,9 +21,9 @@ extern "C" void requestContextSwitchFromISR();
  * has different functions for handling semaphores and messages from within
  * an ISR and task.
  */
-enum CallContext {
-	task = 0x00,//!< task_context
-	isr = 0xFF  //!< isr_context
+enum class CallContext {
+	TASK = 0x00,//!< task_context
+	ISR = 0xFF  //!< isr_context
 };