vTaskDelayUntil improvement (#77)
* vTaskDelayUntil improvement
* suggestions implemented
* xTaskDelayUntil #define added
* doc small fix
* small formatting stuff
* more small formatting stuff
* Update lexicon.txt
Co-authored-by: Carl Lundin <53273776+lundinc2@users.noreply.github.com>
Co-authored-by: Carl Lundin <lundinc@amazon.com>
diff --git a/include/task.h b/include/task.h
index 730deec..75e324d 100644
--- a/include/task.h
+++ b/include/task.h
@@ -781,7 +781,7 @@
/**
* task. h
* <pre>
- * void vTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );
+ * BaseType_t xTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );
* </pre>
*
* INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available.
@@ -799,7 +799,7 @@
* each time it executes].
*
* Whereas vTaskDelay () specifies a wake time relative to the time at which the function
- * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
+ * is called, xTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
* unblock.
*
* The constant portTICK_PERIOD_MS can be used to calculate real time from the tick
@@ -808,13 +808,16 @@
* @param pxPreviousWakeTime Pointer to a variable that holds the time at which the
* task was last unblocked. The variable must be initialised with the current time
* prior to its first use (see the example below). Following this the variable is
- * automatically updated within vTaskDelayUntil ().
+ * automatically updated within xTaskDelayUntil ().
*
* @param xTimeIncrement The cycle time period. The task will be unblocked at
- * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the
+ * time *pxPreviousWakeTime + xTimeIncrement. Calling xTaskDelayUntil with the
* same xTimeIncrement parameter value will cause the task to execute with
* a fixed interface period.
*
+ * @return Value which can be used to check whether the task was actually delayed.
+ * Will be pdTRUE if the task way delayed and pdFALSE otherwise.
+ *
* Example usage:
* <pre>
* // Perform an action every 10 ticks.
@@ -823,22 +826,28 @@
* TickType_t xLastWakeTime;
* const TickType_t xFrequency = 10;
*
- * // Initialise the xLastWakeTime variable with the current time.
- * xLastWakeTime = xTaskGetTickCount ();
- * for( ;; )
- * {
- * // Wait for the next cycle.
- * vTaskDelayUntil( &xLastWakeTime, xFrequency );
+ * // Initialise the xLastWakeTime variable with the current time.
+ * xLastWakeTime = xTaskGetTickCount ();
+ * for( ;; )
+ * {
+ * // Wait for the next cycle.
+ * BaseType_t xWasDelayed = xTaskDelayUntil( &xLastWakeTime, xFrequency );
*
- * // Perform action here.
- * }
+ * // Perform action here. xWasDelayed value can be used to determine
+ * // whether a deadline was missed if the code here took too long.
+ * }
* }
* </pre>
- * \defgroup vTaskDelayUntil vTaskDelayUntil
+ * \defgroup xTaskDelayUntil xTaskDelayUntil
* \ingroup TaskCtrl
*/
-void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
- const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
+BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+ const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
+#define vTaskDelayUntil( pxPreviousWakeTime, xTimeIncrement ) \
+{ \
+ xTaskDelayUntil ( pxPreviousWakeTime , xTimeIncrement ); \
+}
+
/**
* task. h
diff --git a/lexicon.txt b/lexicon.txt
index 8cb6e9f..2e6e9a9 100644
--- a/lexicon.txt
+++ b/lexicon.txt
@@ -2976,6 +2976,7 @@
xtaskcreaterestricted
xtaskcreaterestrictedstatic
xtaskcreatestatic
+xtaskdelayuntil
xtaskdetails
xtaskendscheduler
xtaskgetapplicationtasktag
@@ -3076,6 +3077,7 @@
xvtorconst
xwaitforallbits
xwantedsize
+xwasdelayed
xwritevalue
xxr
xyieldpending
diff --git a/tasks.c b/tasks.c
index cbd23b9..16322e1 100644
--- a/tasks.c
+++ b/tasks.c
@@ -1246,7 +1246,7 @@
#if ( INCLUDE_vTaskDelayUntil == 1 )
- void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
+ BaseType_t xTaskDelayUntil( TickType_t * const pxPreviousWakeTime,
const TickType_t xTimeIncrement )
{
TickType_t xTimeToWake;
@@ -1324,6 +1324,8 @@
{
mtCOVERAGE_TEST_MARKER();
}
+
+ return xShouldDelay;
}
#endif /* INCLUDE_vTaskDelayUntil */
