C++ refactoring (#91)

TactilityCore/Source/critical/Critical.cpp

@@ -0,0 +1,49 @@
+#include "Critical.h"
+#include "CoreDefines.h"
+
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#else
+#include "FreeRTOS.h"
+#include "task.h"
+#endif
+
+#ifdef ESP_PLATFORM
+static portMUX_TYPE critical_mutex;
+#define TT_ENTER_CRITICAL() taskENTER_CRITICAL(&critical_mutex)
+#else
+#define TT_ENTER_CRITICAL() taskENTER_CRITICAL()
+#endif
+
+namespace tt::critical {
+
+TtCriticalInfo enter() {
+    TtCriticalInfo info;
+
+    info.isrm = 0;
+    info.from_isr = TT_IS_ISR();
+    info.kernel_running = (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING);
+
+    if (info.from_isr) {
+        info.isrm = taskENTER_CRITICAL_FROM_ISR();
+    } else if (info.kernel_running) {
+        TT_ENTER_CRITICAL();
+    } else {
+        portDISABLE_INTERRUPTS();
+    }
+
+    return info;
+}
+
+void exit(TtCriticalInfo info) {
+    if (info.from_isr) {
+        taskEXIT_CRITICAL_FROM_ISR(info.isrm);
+    } else if (info.kernel_running) {
+        TT_ENTER_CRITICAL();
+    } else {
+        portENABLE_INTERRUPTS();
+    }
+}
+
+}

TactilityCore/Source/critical/Critical.h

@@ -0,0 +1,25 @@
+#pragma once
+
+#include <cstdint>
+
+#ifndef TT_CRITICAL_ENTER
+#define TT_CRITICAL_ENTER() __TtCriticalInfo __tt_critical_info = __tt_critical_enter();
+#endif
+
+#ifndef TT_CRITICAL_EXIT
+#define TT_CRITICAL_EXIT() __tt_critical_exit(__tt_critical_info);
+#endif
+
+namespace tt::critical {
+
+typedef struct {
+    uint32_t isrm;
+    bool from_isr;
+    bool kernel_running;
+} TtCriticalInfo;
+
+TtCriticalInfo enter();
+
+void exit(TtCriticalInfo info);
+
+} // namespace