Create TactilityFreertos subproject (#440)

TactilityFreeRtos/Include/Tactility/RecursiveMutex.h

@@ -0,0 +1,53 @@
+#pragma once
+
+#include "Lock.h"
+#include "freertoscompat/PortCompat.h"
+#include "freertoscompat/Semaphore.h"
+
+#include <memory>
+#include <cassert>
+
+namespace tt {
+
+/**
+ * Wrapper for FreeRTOS xSemaphoreCreateRecursiveMutex
+ * Cannot be used from ISR context
+ */
+class RecursiveMutex final : public Lock {
+
+    std::unique_ptr<std::remove_pointer_t<QueueHandle_t>, SemaphoreHandleDeleter> handle = std::unique_ptr<std::remove_pointer_t<QueueHandle_t>, SemaphoreHandleDeleter>(xSemaphoreCreateRecursiveMutex());
+
+public:
+
+    using Lock::lock;
+
+    explicit RecursiveMutex() {
+        assert(handle != nullptr);
+    }
+
+    ~RecursiveMutex() override = default;
+
+    /**
+     * Attempt to lock the mutex. Blocks until timeout passes or lock is acquired.
+     * @param[in] timeout
+     * @return success result
+     */
+    bool lock(TickType_t timeout) const override {
+        assert(xPortInIsrContext() == pdFALSE);
+        return xSemaphoreTakeRecursive(handle.get(), timeout) == pdPASS;
+    }
+
+    /** Unlock the mutex */
+    void unlock() const override {
+        assert(xPortInIsrContext() == pdFALSE);
+        xSemaphoreGiveRecursive(handle.get());
+    }
+
+    /** @return the owner of the thread */
+     TaskHandle_t getOwner() const {
+        assert(xPortInIsrContext() == pdFALSE);
+        return xSemaphoreGetMutexHolder(handle.get());
+    }
+};
+
+} // namespace