From 40727728d06660c8b0448cf405f32d2b1634e6aa Mon Sep 17 00:00:00 2001
From: "@CarlWachter" <carlwachter@web.de>
Date: Sun, 16 Jun 2024 10:44:24 +0200
Subject: [PATCH 1/2] feat(sync): added periodicDelay function to threads

---
 include/sta/tacos/thread.hpp |  9 +++++++++
 src/thread.cpp               | 26 +++++++++++++++++++++++++-
 2 files changed, 34 insertions(+), 1 deletion(-)

diff --git a/include/sta/tacos/thread.hpp b/include/sta/tacos/thread.hpp
index 6344d55..a60064d 100644
--- a/include/sta/tacos/thread.hpp
+++ b/include/sta/tacos/thread.hpp
@@ -128,6 +128,14 @@ namespace sta
 			 */
 			void sleep(uint32_t ticks);
 
+			/**
+			 * @brief Sleep until next period. Sets itself to WAITING if the watchdog is enabled, preventing
+			 * the watchdog from restarting this thread.
+			 * 
+			 * @param frequency 
+			 */
+			void periodicDelay(uint32_t frequency);
+
 #ifdef STA_CAN_BUS_ENABLE
 			/**
 			 * @brief Set the ID of the CAN bus this thread is associated with.
@@ -216,6 +224,7 @@ namespace sta
 			uint32_t canID_;
 #endif // STA_TACOS_WATCHDOG_ENABLED
 			bool terminate_;
+			uint32_t previous_tick_;
 		};
 	}
 }
diff --git a/src/thread.cpp b/src/thread.cpp
index 61bf62a..bfb3058 100644
--- a/src/thread.cpp
+++ b/src/thread.cpp
@@ -13,7 +13,11 @@
 
 #include <functional>
 #include <cstring>
+#include <cmsis_os2.h>
 
+// Include FreeRTOS configuration for the system tick rate.
+typedef uint32_t TickType_t;
+#include <FreeRTOSConfig.h>
 
 namespace sta
 {
@@ -31,7 +35,8 @@ namespace sta
 				  CAN_queue_{STA_RTOS_CAN_BUS_QUEUE_LENGTH},
 				  canID_{0},
 #endif // STA_CAN_BUS_ENABLE
-				  terminate_{false}
+				  terminate_{false},
+				  previous_tick_{0}
 		{
 			STA_ASSERT(stack_size >= 0);
 			STA_ASSERT(cb_size >= 0);
@@ -110,6 +115,25 @@ namespace sta
 
 			osDelay(ticks);
 
+#ifdef STA_TACOS_WATCHDOG_ENABLED
+			heartbeat();
+#endif // STA_TACOS_WATCHDOG_ENABLED
+		}
+
+		void TacosThread::periodicDelay(uint32_t frequency){
+			if (previous_tick_ == 0)
+			{
+				previous_tick_ = osKernelGetTickCount();
+			}
+
+			previous_tick_ += configTICK_RATE_HZ/frequency; 
+
+#ifdef STA_TACOS_WATCHDOG_ENABLED
+			waiting();
+#endif // STA_TACOS_WATCHDOG_ENABLED
+
+			osDelayUntil(previous_tick_); 	
+
 #ifdef STA_TACOS_WATCHDOG_ENABLED
 			heartbeat();
 #endif // STA_TACOS_WATCHDOG_ENABLED

From da7b98be44c4aea341d082a51517fe5633486326 Mon Sep 17 00:00:00 2001
From: CarlWachter <carlwachter@web.de>
Date: Mon, 17 Jun 2024 11:31:44 +0200
Subject: [PATCH 2/2] cleanup: cmsis-rtos for kernel frequency

---
 src/thread.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/thread.cpp b/src/thread.cpp
index bfb3058..e13863d 100644
--- a/src/thread.cpp
+++ b/src/thread.cpp
@@ -15,10 +15,6 @@
 #include <cstring>
 #include <cmsis_os2.h>
 
-// Include FreeRTOS configuration for the system tick rate.
-typedef uint32_t TickType_t;
-#include <FreeRTOSConfig.h>
-
 namespace sta
 {
 	namespace tacos
@@ -126,7 +122,7 @@ namespace sta
 				previous_tick_ = osKernelGetTickCount();
 			}
 
-			previous_tick_ += configTICK_RATE_HZ/frequency; 
+			previous_tick_ += osKernelGetTickFreq()/frequency; 
 
 #ifdef STA_TACOS_WATCHDOG_ENABLED
 			waiting();