From 073f168b9507800d11ddcee8f63deb6025c513e7 Mon Sep 17 00:00:00 2001
From: "Robin.Mueller" <robin.mueller.m@gmail.com>
Date: Thu, 27 Aug 2020 16:27:54 +0200
Subject: [PATCH] task management function taken over from master

---
 osal/FreeRTOS/TaskManagement.cpp | 23 ++++++++++++-----------
 osal/FreeRTOS/TaskManagement.h   | 23 ++++++++++++-----------
 2 files changed, 24 insertions(+), 22 deletions(-)

diff --git a/osal/FreeRTOS/TaskManagement.cpp b/osal/FreeRTOS/TaskManagement.cpp
index 7871ab2ec..16682d361 100644
--- a/osal/FreeRTOS/TaskManagement.cpp
+++ b/osal/FreeRTOS/TaskManagement.cpp
@@ -1,23 +1,24 @@
-#include <framework/osal/FreeRTOS/TaskManagement.h>
-
-void TaskManagement::requestContextSwitchFromTask() {
+#include "../../osal/FreeRTOS/TaskManagement.h"
+
+void TaskManagement::vRequestContextSwitchFromTask() {
 	vTaskDelay(0);
 }
-
+
 void TaskManagement::requestContextSwitch(
-		CallContext callContext = CallContext::TASK) {
+		CallContext callContext = CallContext::TASK) {
 	if(callContext == CallContext::ISR) {
 		// This function depends on the partmacro.h definition for the specific device
-		requestContextSwitchFromISR();
+		vRequestContextSwitchFromISR();
 	} else {
-		requestContextSwitchFromTask();
+		vRequestContextSwitchFromTask();
 	}
 }
-
+
 TaskHandle_t TaskManagement::getCurrentTaskHandle() {
 	return xTaskGetCurrentTaskHandle();
 }
 
-configSTACK_DEPTH_TYPE TaskManagement::getTaskStackHighWatermark() {
-	return uxTaskGetStackHighWaterMark(TaskManagement::getCurrentTaskHandle());
-}
+size_t TaskManagement::getTaskStackHighWatermark(
+        TaskHandle_t task) {
+	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
+}
diff --git a/osal/FreeRTOS/TaskManagement.h b/osal/FreeRTOS/TaskManagement.h
index 39c24377b..43003d763 100644
--- a/osal/FreeRTOS/TaskManagement.h
+++ b/osal/FreeRTOS/TaskManagement.h
@@ -1,25 +1,25 @@
 #ifndef FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
 #define FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_
 
-#include <framework/returnvalues/HasReturnvaluesIF.h>
+#include "../../returnvalues/HasReturnvaluesIF.h"
 
 extern "C" {
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 }
 #include <cstdint>
-
+
 /**
  * Architecture dependant portmacro.h function call.
  * Should be implemented in bsp.
  */
-extern "C" void requestContextSwitchFromISR();
+extern void vRequestContextSwitchFromISR();
 
 /*!
  * Used by functions to tell if they are being called from
- * within an ISR or from a regular task. This is required because FreeRTOS
+ * 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.
+ * an ISR and task.
  */
 enum class CallContext {
 	TASK = 0x00,//!< task_context
@@ -29,19 +29,19 @@ enum class CallContext {
 
 class TaskManagement {
 public:
-	/**
+	/**
 	 * @brief	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.
+	 * to unblock and a context switch is required.
 	 */
 	static void requestContextSwitch(CallContext callContext);
 
 	/**
 	 * If task preemption in FreeRTOS is disabled, a context switch
 	 * can be requested manually by calling this function.
-	 */
-	static void requestContextSwitchFromTask(void);
+	 */
+	static void vRequestContextSwitchFromTask(void);
 
 	/**
 	 * @return The current task handle
@@ -56,8 +56,9 @@ public:
 	 * E.g. on a 32 bit machine, a value of 200 means 800 bytes.
 	 * @return Smallest value of stack remaining since the task was started in
 	 * 		   words.
-	 */
-	static configSTACK_DEPTH_TYPE getTaskStackHighWatermark();
+	 */
+	static size_t getTaskStackHighWatermark(
+	        TaskHandle_t task = nullptr);
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */