Update docs and fix bugs (#149)

Improved the docs for the 3 main Tactility projects. I also fixed some inaccuracies and bugs in certain APIs as I went through the code.

TactilityC/Source/tt_message_queue.cpp

@@ -13,11 +13,11 @@ void tt_message_queue_free(MessageQueueHandle handle) {
     delete HANDLE_TO_MESSAGE_QUEUE(handle);
 }
 
-bool tt_message_queue_put(MessageQueueHandle handle, const void* message, uint32_t timeout) {
+bool tt_message_queue_put(MessageQueueHandle handle, const void* message, TickType_t timeout) {
     return HANDLE_TO_MESSAGE_QUEUE(handle)->put(message, timeout);
 }
 
-bool tt_message_queue_get(MessageQueueHandle handle, void* message, uint32_t timeout) {
+bool tt_message_queue_get(MessageQueueHandle handle, void* message, TickType_t timeout) {
     return HANDLE_TO_MESSAGE_QUEUE(handle)->get(message, timeout);
 }
 

TactilityC/Source/tt_message_queue.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <freertos/FreeRTOS.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -11,8 +13,8 @@ typedef void* MessageQueueHandle;
 
 MessageQueueHandle tt_message_queue_alloc(uint32_t capacity, uint32_t messageSize);
 void tt_message_queue_free(MessageQueueHandle handle);
-bool tt_message_queue_put(MessageQueueHandle handle, const void* message, uint32_t timeout);
-bool tt_message_queue_get(MessageQueueHandle handle, void* message, uint32_t timeout);
+bool tt_message_queue_put(MessageQueueHandle handle, const void* message, TickType_t timeout);
+bool tt_message_queue_get(MessageQueueHandle handle, void* message, TickType_t timeout);
 uint32_t tt_message_queue_get_capacity(MessageQueueHandle handle);
 uint32_t tt_message_queue_get_message_size(MessageQueueHandle handle);
 uint32_t tt_message_queue_get_count(MessageQueueHandle handle);

TactilityC/Source/tt_mutex.cpp

@@ -20,8 +20,8 @@ void tt_mutex_free(MutexHandle handle) {
     delete HANDLE_AS_MUTEX(handle);
 }
 
-bool tt_mutex_lock(MutexHandle handle, uint32_t timeoutTicks) {
-    return HANDLE_AS_MUTEX(handle)->lock(timeoutTicks);
+bool tt_mutex_lock(MutexHandle handle, TickType_t timeout) {
+    return HANDLE_AS_MUTEX(handle)->lock((TickType_t)timeout);
 }
 
 bool tt_mutex_unlock(MutexHandle handle) {

TactilityC/Source/tt_mutex.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <freertos/FreeRTOS.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -16,7 +18,7 @@ enum TtMutexType {
 
 MutexHandle tt_mutex_alloc(enum TtMutexType);
 void tt_mutex_free(MutexHandle handle);
-bool tt_mutex_lock(MutexHandle handle, uint32_t timeoutTicks);
+bool tt_mutex_lock(MutexHandle handle, TickType_t timeoutTicks);
 bool tt_mutex_unlock(MutexHandle handle);
 
 #ifdef __cplusplus

TactilityC/Source/tt_semaphore.cpp

@@ -5,7 +5,7 @@ extern "C" {
 
 #define HANDLE_AS_SEMAPHORE(handle) ((tt::Semaphore*)(handle))
 
-SemaphoreHandle tt_semaphore_alloc(uint32_t maxCount, uint32_t initialCount) {
+SemaphoreHandle tt_semaphore_alloc(uint32_t maxCount, TickType_t initialCount) {
     return new tt::Semaphore(maxCount, initialCount);
 }
 
@@ -13,7 +13,7 @@ void tt_semaphore_free(SemaphoreHandle handle) {
     delete HANDLE_AS_SEMAPHORE(handle);
 }
 
-bool tt_semaphore_acquire(SemaphoreHandle handle, uint32_t timeoutTicks) {
+bool tt_semaphore_acquire(SemaphoreHandle handle, TickType_t timeoutTicks) {
     return HANDLE_AS_SEMAPHORE(handle)->acquire(timeoutTicks);
 }
 

TactilityC/Source/tt_semaphore.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <freertos/FreeRTOS.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -9,9 +11,9 @@ extern "C" {
 
 typedef void* SemaphoreHandle;
 
-SemaphoreHandle tt_semaphore_alloc(uint32_t maxCount, uint32_t initialCount);
+SemaphoreHandle tt_semaphore_alloc(uint32_t maxCount, TickType_t initialCount);
 void tt_semaphore_free(SemaphoreHandle handle);
-bool tt_semaphore_acquire(SemaphoreHandle handle, uint32_t timeoutTicks);
+bool tt_semaphore_acquire(SemaphoreHandle handle, TickType_t timeoutTicks);
 bool tt_semaphore_release(SemaphoreHandle handle);
 uint32_t tt_semaphore_get_count(SemaphoreHandle handle);
 

TactilityC/Source/tt_timer.cpp

@@ -29,11 +29,11 @@ void tt_timer_free(TimerHandle handle) {
     delete wrapper;
 }
 
-bool tt_timer_start(TimerHandle handle, uint32_t intervalTicks) {
+bool tt_timer_start(TimerHandle handle, TickType_t intervalTicks) {
     return ((TimerWrapper*)handle)->timer->start(intervalTicks);
 }
 
-bool tt_timer_restart(TimerHandle handle, uint32_t intervalTicks) {
+bool tt_timer_restart(TimerHandle handle, TickType_t intervalTicks) {
     return ((TimerWrapper*)handle)->timer->restart(intervalTicks);
 }
 
@@ -49,11 +49,12 @@ uint32_t tt_timer_get_expire_time(TimerHandle handle) {
     return ((TimerWrapper*)handle)->timer->getExpireTime();
 }
 
-bool tt_timer_set_pending_callback(TimerHandle handle, TimerPendingCallback callback, void* callbackContext, uint32_t arg) {
+bool tt_timer_set_pending_callback(TimerHandle handle, TimerPendingCallback callback, void* callbackContext, uint32_t callbackArg, TickType_t timeoutTicks) {
     return ((TimerWrapper*)handle)->timer->setPendingCallback(
         callback,
         callbackContext,
-        arg
+        callbackArg,
+        (TickType_t)timeoutTicks
     );
 }
 

TactilityC/Source/tt_timer.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <freertos/FreeRTOS.h>
+
 #ifdef __cplusplus
 extern "C" {
 #endif
@@ -24,12 +26,12 @@ typedef void (*TimerPendingCallback)(void* context, uint32_t arg);
 
 TimerHandle tt_timer_alloc(TimerType type, TimerCallback callback, void* callbackContext);
 void tt_timer_free(TimerHandle handle);
-bool tt_timer_start(TimerHandle handle, uint32_t intervalTicks);
-bool tt_timer_restart(TimerHandle handle, uint32_t intervalTicks);
+bool tt_timer_start(TimerHandle handle, TickType_t intervalTicks);
+bool tt_timer_restart(TimerHandle handle, TickType_t intervalTicks);
 bool tt_timer_stop(TimerHandle handle);
 bool tt_timer_is_running(TimerHandle handle);
 uint32_t tt_timer_get_expire_time(TimerHandle handle);
-bool tt_timer_set_pending_callback(TimerHandle handle, TimerPendingCallback callback, void* callbackContext, uint32_t arg);
+bool tt_timer_set_pending_callback(TimerHandle handle, TimerPendingCallback callback, void* callbackContext, uint32_t callbackArg, TickType_t timeoutTicks);
 void tt_timer_set_thread_priority(TimerHandle handle, TimerThreadPriority priority);
 
 #ifdef __cplusplus