using new xTaskDelayUntil

osal/FreeRTOS/BinSemaphUsingTask.cpp

@@ -2,6 +2,9 @@
 #include "TaskManagement.h"
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
+#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8
+
 BinarySemaphoreUsingTask::BinarySemaphoreUsingTask() {
 	handle = TaskManagement::getCurrentTaskHandle();
 	if(handle == nullptr) {
@@ -97,3 +100,6 @@ uint8_t BinarySemaphoreUsingTask::getSemaphoreCounterFromISR(
 			higherPriorityTaskWoken);
 	return notificationValue;
 }
+
+#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8 */

osal/FreeRTOS/BinSemaphUsingTask.h

@@ -90,6 +90,7 @@ protected:
 	TaskHandle_t handle;
 };
 
-#endif
+#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8 */
 
 #endif /* FSFW_OSAL_FREERTOS_BINSEMAPHUSINGTASK_H_ */

osal/FreeRTOS/CountingSemaphUsingTask.cpp

@@ -3,6 +3,9 @@
 
 #include "../../serviceinterface/ServiceInterfaceStream.h"
 
+#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8
+
 CountingSemaphoreUsingTask::CountingSemaphoreUsingTask(const uint8_t maxCount,
 		uint8_t initCount): maxCount(maxCount) {
 	if(initCount > maxCount) {
@@ -113,3 +116,5 @@ uint8_t CountingSemaphoreUsingTask::getSemaphoreCounterFromISR(
 uint8_t CountingSemaphoreUsingTask::getMaxCount() const {
 	return maxCount;
 }
+
+#endif

osal/FreeRTOS/CountingSemaphUsingTask.h

@@ -7,6 +7,9 @@
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
+#if (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8
+
 /**
  * @brief 	Couting Semaphore implementation which uses the notification value
  * 			of the task. The notification value should therefore not be used
@@ -100,4 +103,7 @@ private:
 	const uint8_t maxCount;
 };
 
+#endif /* (tskKERNEL_VERSION_MAJOR == 8 && tskKERNEL_VERSION_MINOR > 2) || \
+    tskKERNEL_VERSION_MAJOR > 8 */
+
 #endif /* FSFW_OSAL_FREERTOS_COUNTINGSEMAPHUSINGTASK_H_ */

osal/FreeRTOS/FixedTimeslotTask.cpp

@@ -114,38 +114,24 @@ void FixedTimeslotTask::taskFunctionality() {
 	        intervalMs = this->pst.getIntervalToPreviousSlotMs();
 	        interval = pdMS_TO_TICKS(intervalMs);
 
-	        checkMissedDeadline(xLastWakeTime, interval);
+#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || \
-
+    tskKERNEL_VERSION_MAJOR > 10
-	        // Wait for the interval. This exits immediately if a deadline was
+	        BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, interval);
-	        // missed while also updating the last wake time.
+	        if(wasDelayed == pdFALSE) {
-	        vTaskDelayUntil(&xLastWakeTime, interval);
+	            handleMissedDeadline();
+	        }
+#else
+            if(checkMissedDeadline(xLastWakeTime, interval)) {
+                handleMissedDeadline();
+            }
+            // Wait for the interval. This exits immediately if a deadline was
+            // missed while also updating the last wake time.
+            vTaskDelayUntil(&xLastWakeTime, interval);
+#endif
 	    }
 	}
 }
 
-void FixedTimeslotTask::checkMissedDeadline(const TickType_t xLastWakeTime,
-        const TickType_t interval) {
-    /* Check whether deadline was missed while also taking overflows
-     * into account. Drawing this on paper with a timeline helps to understand
-     * it. */
-    TickType_t currentTickCount = xTaskGetTickCount();
-    TickType_t timeToWake = xLastWakeTime + interval;
-    // Time to wake has not overflown.
-    if(timeToWake > xLastWakeTime) {
-        /* If the current time has overflown exclusively or the current
-         * tick count is simply larger than the time to wake, a deadline was
-         * missed */
-        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
-            handleMissedDeadline();
-        }
-    }
-    /* Time to wake has overflown. A deadline was missed if the current time
-     * is larger than the time to wake */
-    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-        handleMissedDeadline();
-    }
-}
-
 void FixedTimeslotTask::handleMissedDeadline() {
     if(deadlineMissedFunc != nullptr) {
         this->deadlineMissedFunc();

osal/FreeRTOS/FixedTimeslotTask.h

@@ -93,8 +93,6 @@ protected:
 	 */
 	void taskFunctionality(void);
 
-	void checkMissedDeadline(const TickType_t xLastWakeTime,
-	        const TickType_t interval);
 	void handleMissedDeadline();
 };
 

osal/FreeRTOS/FreeRTOSTaskIF.h

@@ -1,13 +1,41 @@
-#ifndef FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+#ifndef FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
-#define FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_
+#define FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_
 
 #include <freertos/FreeRTOS.h>
 #include <freertos/task.h>
 
 class FreeRTOSTaskIF {
 public:
-	virtual~ FreeRTOSTaskIF() {}
+    virtual~ FreeRTOSTaskIF() {}
-	virtual TaskHandle_t getTaskHandle() = 0;
+    virtual TaskHandle_t getTaskHandle() = 0;
+
+protected:
+
+    bool checkMissedDeadline(const TickType_t xLastWakeTime,
+            const TickType_t interval) {
+        /* Check whether deadline was missed while also taking overflows
+         * into account. Drawing this on paper with a timeline helps to understand
+         * it. */
+        TickType_t currentTickCount = xTaskGetTickCount();
+        TickType_t timeToWake = xLastWakeTime + interval;
+        // Time to wake has not overflown.
+        if(timeToWake > xLastWakeTime) {
+            /* If the current time has overflown exclusively or the current
+             * tick count is simply larger than the time to wake, a deadline was
+             * missed */
+            if((currentTickCount < xLastWakeTime) or
+                    (currentTickCount > timeToWake)) {
+                return true;
+            }
+        }
+        /* Time to wake has overflown. A deadline was missed if the current time
+         * is larger than the time to wake */
+        else if((timeToWake < xLastWakeTime) and
+                (currentTickCount > timeToWake)) {
+            return true;
+        }
+        return false;
+    }
 };
 
-#endif /* FRAMEWORK_OSAL_FREERTOS_FREERTOSTASKIF_H_ */
+#endif /* FSFW_OSAL_FREERTOS_FREERTOSTASKIF_H_ */

osal/FreeRTOS/PeriodicTask.cpp

@@ -87,7 +87,9 @@ void PeriodicTask::taskFunctionality() {
 		    handleMissedDeadline();
 		}
 #else
-        checkMissedDeadline(xLastWakeTime, xPeriod);
+        if(checkMissedDeadline(xLastWakeTime, xPeriod)) {
+            handleMissedDeadline();
+        }
         vTaskDelayUntil(&xLastWakeTime, xPeriod);
 #endif
 	}
@@ -111,30 +113,6 @@ uint32_t PeriodicTask::getPeriodMs() const {
 	return period * 1000;
 }
 
-void PeriodicTask::checkMissedDeadline(const TickType_t xLastWakeTime,
-        const TickType_t interval) {
-    /* Check whether deadline was missed while also taking overflows
-     * into account. Drawing this on paper with a timeline helps to understand
-     * it. */
-    TickType_t currentTickCount = xTaskGetTickCount();
-    TickType_t timeToWake = xLastWakeTime + interval;
-    // Time to wake has not overflown.
-    if(timeToWake > xLastWakeTime) {
-        /* If the current time has overflown exclusively or the current
-         * tick count is simply larger than the time to wake, a deadline was
-         * missed */
-        if((currentTickCount < xLastWakeTime) or (currentTickCount > timeToWake)) {
-            handleMissedDeadline();
-        }
-    }
-    /* Time to wake has overflown. A deadline was missed if the current time
-     * is larger than the time to wake */
-    else if((timeToWake < xLastWakeTime) and (currentTickCount > timeToWake)) {
-        handleMissedDeadline();
-    }
-
-}
-
 TaskHandle_t PeriodicTask::getTaskHandle() {
     return handle;
 }

osal/FreeRTOS/PeriodicTask.h

@@ -119,8 +119,6 @@ protected:
 	 */
 	void taskFunctionality(void);
 
-	void checkMissedDeadline(const TickType_t xLastWakeTime,
-	        const TickType_t interval);
 	void handleMissedDeadline();
 };
 

osal/FreeRTOS/TaskManagement.cpp

@@ -22,3 +22,4 @@ size_t TaskManagement::getTaskStackHighWatermark(
         TaskHandle_t task) {
 	return uxTaskGetStackHighWaterMark(task) * sizeof(StackType_t);
 }
+

osal/FreeRTOS/TaskManagement.h

@@ -26,38 +26,37 @@ enum class CallContext {
 };
 
 
-class TaskManagement {
+namespace TaskManagement {
-public:
+/**
-	/**
+ * @brief	In this function, a function dependant on the portmacro.h header
-	 * @brief	In this function, a function dependant on the portmacro.h header
+ * 			function calls to request a context switch can be specified.
-	 * 			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
-	 * 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.
+ */
-	 */
+void requestContextSwitch(CallContext callContext);
-	static void requestContextSwitch(CallContext callContext);
 
-	/**
+/**
-	 * If task preemption in FreeRTOS is disabled, a context switch
+ * If task preemption in FreeRTOS is disabled, a context switch
-	 * can be requested manually by calling this function.
+ * can be requested manually by calling this function.
-	 */
+ */
-	static void vRequestContextSwitchFromTask(void);
+void vRequestContextSwitchFromTask(void);
 
-	/**
+/**
-	 * @return The current task handle
+ * @return The current task handle
-	 */
+ */
-	static TaskHandle_t getCurrentTaskHandle();
+TaskHandle_t getCurrentTaskHandle();
+
+/**
+ * Get returns the minimum amount of remaining stack space in words
+ * that was a available to the task since the task started executing.
+ * Please note that the actual value in bytes depends
+ * on the stack depth type.
+ * 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.
+ */
+size_t getTaskStackHighWatermark(TaskHandle_t task = nullptr);
 
-	/**
-	 * Get returns the minimum amount of remaining stack space in words
-	 * that was a available to the task since the task started executing.
-	 * Please note that the actual value in bytes depends
-	 * on the stack depth type.
-	 * 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 size_t getTaskStackHighWatermark(
-	        TaskHandle_t task = nullptr);
 };
 
 #endif /* FRAMEWORK_OSAL_FREERTOS_TASKMANAGEMENT_H_ */