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TactilityKernel improvements and more (#459)

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This commit is contained in:
Ken Van Hoeylandt
2026-01-25 23:54:33 +01:00
committed by GitHub
parent 96eccbdc8d
commit dfe2c865d1
36 changed files with 759 additions and 331 deletions
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TactilityKernel/Include/Tactility/concurrent/RecursiveMutex.h
+13 -1
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@@ -26,18 +26,30 @@ inline static void recursive_mutex_destruct(struct RecursiveMutex* mutex) {
}
inline static void recursive_mutex_lock(struct RecursiveMutex* mutex) {
assert(xPortInIsrContext() != pdTRUE);
xSemaphoreTakeRecursive(mutex->handle, portMAX_DELAY);
}
inline static bool recursive_mutex_is_locked(struct RecursiveMutex* mutex) {
return xSemaphoreGetMutexHolder(mutex->handle) != NULL;
if (xPortInIsrContext() == pdTRUE) {
return xSemaphoreGetMutexHolderFromISR(mutex->handle) != NULL;
} else {
return xSemaphoreGetMutexHolder(mutex->handle) != NULL;
}
}
inline static bool recursive_mutex_try_lock(struct RecursiveMutex* mutex) {
assert(xPortInIsrContext() != pdTRUE);
return xSemaphoreTakeRecursive(mutex->handle, 0) == pdTRUE;
}
inline static bool recursive_mutex_try_lock_timed(struct RecursiveMutex* mutex, TickType_t timeout) {
assert(xPortInIsrContext() != pdTRUE);
return xSemaphoreTakeRecursive(mutex->handle, timeout) == pdTRUE;
}
inline static void recursive_mutex_unlock(struct RecursiveMutex* mutex) {
assert(xPortInIsrContext() != pdTRUE);
xSemaphoreGiveRecursive(mutex->handle);
}