Ken Van Hoeylandt
e6abd496f9
* **New Features** * Time and delay utilities added (ticks, ms, µs); SD card now uses an expansion-header CS pin; HTTP downloads warn when run on the GUI task and yield to avoid blocking. * **Bug Fixes / Reliability** * Many hard-crash paths converted to guarded checks to reduce abrupt termination and improve stability. * **Tests** * Unit tests added to validate time and delay accuracy. * **Chores** * License header and build/macro updates.
59 lines
1.6 KiB
C
59 lines
1.6 KiB
C
// SPDX-License-Identifier: Apache-2.0
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#pragma once
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#include <stdbool.h>
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#include <Tactility/Check.h>
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#include <Tactility/FreeRTOS/semphr.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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struct RecursiveMutex {
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QueueHandle_t handle;
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};
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inline static void recursive_mutex_construct(struct RecursiveMutex* mutex) {
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mutex->handle = xSemaphoreCreateRecursiveMutex();
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}
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inline static void recursive_mutex_destruct(struct RecursiveMutex* mutex) {
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check(mutex->handle != NULL);
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check(xPortInIsrContext() != pdTRUE);
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vSemaphoreDelete(mutex->handle);
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mutex->handle = NULL;
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}
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inline static void recursive_mutex_lock(struct RecursiveMutex* mutex) {
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check(xPortInIsrContext() != pdTRUE);
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xSemaphoreTakeRecursive(mutex->handle, portMAX_DELAY);
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}
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inline static bool recursive_mutex_is_locked(struct RecursiveMutex* mutex) {
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if (xPortInIsrContext() == pdTRUE) {
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return xSemaphoreGetMutexHolderFromISR(mutex->handle) != NULL;
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} else {
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return xSemaphoreGetMutexHolder(mutex->handle) != NULL;
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}
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}
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inline static bool recursive_mutex_try_lock(struct RecursiveMutex* mutex) {
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check(xPortInIsrContext() != pdTRUE);
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return xSemaphoreTakeRecursive(mutex->handle, 0) == pdTRUE;
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}
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inline static bool recursive_mutex_try_lock_timed(struct RecursiveMutex* mutex, TickType_t timeout) {
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check(xPortInIsrContext() != pdTRUE);
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return xSemaphoreTakeRecursive(mutex->handle, timeout) == pdTRUE;
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}
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inline static void recursive_mutex_unlock(struct RecursiveMutex* mutex) {
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check(xPortInIsrContext() != pdTRUE);
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xSemaphoreGiveRecursive(mutex->handle);
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}
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#ifdef __cplusplus
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}
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#endif
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