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using new xTaskDelayUntil

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This commit is contained in:
Robin Müller
2020-12-14 23:55:54 +01:00
parent b8f4d8690b
commit 0c3e87f1de
11 changed files with 98 additions and 92 deletions
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28
osal/FreeRTOS/PeriodicTask.cpp
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@@ -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;
}