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changes from mueller/master taken over

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This commit is contained in:
Robin Müller
2020-12-14 23:56:44 +01:00
parent 313d898aef
commit 3cc053a581
11 changed files with 111 additions and 95 deletions
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42
osal/FreeRTOS/FixedTimeslotTask.cpp
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@ -114,38 +114,24 @@ void FixedTimeslotTask::taskFunctionality() {
intervalMs = this->pst.getIntervalToPreviousSlotMs();
interval = pdMS_TO_TICKS(intervalMs);
checkMissedDeadline(xLastWakeTime, interval);
// Wait for the interval. This exits immediately if a deadline was
// missed while also updating the last wake time.
vTaskDelayUntil(&xLastWakeTime, interval);
#if (tskKERNEL_VERSION_MAJOR == 10 && tskKERNEL_VERSION_MINOR >= 4) || \
tskKERNEL_VERSION_MAJOR > 10
BaseType_t wasDelayed = xTaskDelayUntil(&xLastWakeTime, interval);
if(wasDelayed == pdFALSE) {
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();