1 files changed, 124 insertions, 0 deletions
diff --git a/FreeRtosWrapper/RtosMutex.cpp b/FreeRtosWrapper/RtosMutex.cpp
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+++ b/FreeRtosWrapper/RtosMutex.cpp
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+//******************************************************************************
+//  @file RtosMutex.cpp
+//  @author Nicolai Shlapunov
+//
+//  @details DevCore: FreeRTOS Mutex Wrapper Class, implementation
+//
+//  @copyright Copyright (c) 2018, Devtronic & Nicolai Shlapunov
+//             All rights reserved.
+//
+//  @section SUPPORT
+//
+//   Devtronic invests time and resources providing this open source code,
+//   please support Devtronic and open-source hardware/software by
+//   donations and/or purchasing products from Devtronic.
+//
+//******************************************************************************
+
+// *****************************************************************************
+// ***   Includes   ************************************************************
+// *****************************************************************************
+#include "RtosMutex.h"
+#include "Rtos.h"
+
+// *****************************************************************************
+// ***   Constructor   **********************************************************
+// *****************************************************************************
+RtosMutex::RtosMutex()
+{
+  // Create semaphore
+  mutex = xSemaphoreCreateMutex();
+  // Check error
+  if(mutex == nullptr)
+  {
+    // TODO: implement error handling
+    Break();
+  }
+}
+
+// *****************************************************************************
+// ***   Destructor   **********************************************************
+// *****************************************************************************
+RtosMutex::~RtosMutex()
+{
+  if(mutex == nullptr)
+  {
+    vSemaphoreDelete(mutex);
+  }
+}
+
+// *****************************************************************************
+// ***   Lock   ****************************************************************
+// *****************************************************************************
+Result RtosMutex::Lock(TickType_t ticks_to_wait)
+{
+  Result result;
+  // Variable for check result
+  BaseType_t res;
+
+  // Check handler mode
+  if(Rtos::IsInHandlerMode())
+  {
+    BaseType_t task_woken;
+    // Take mutex from ISR
+    res = xSemaphoreTakeFromISR(mutex, &task_woken);
+    // Switch context if needed
+    portEND_SWITCHING_ISR((res == pdPASS) ? task_woken : pdFALSE);
+  }
+  else
+  {
+    // Take mutex
+    res = xSemaphoreTake(mutex, ticks_to_wait);
+  }
+
+  // Find result
+  if(res == pdTRUE)
+  {
+    result = Result::RESULT_OK;
+  }
+  else
+  {
+    result = Result::ERR_MUTEX_LOCK;
+  }
+
+  // Return result
+  return result;
+}
+
+
+// *****************************************************************************
+// ***   Release   *************************************************************
+// *****************************************************************************
+Result RtosMutex::Release()
+{
+  Result result;
+  // Variable for check result
+  BaseType_t res = xSemaphoreGive(mutex);
+
+  // Check handler mode
+  if(Rtos::IsInHandlerMode())
+  {
+    BaseType_t task_woken;
+    // Give mutex from ISR
+    res = xSemaphoreGiveFromISR(mutex, &task_woken);
+    // Switch context if needed
+    portEND_SWITCHING_ISR((res == pdPASS) ? task_woken : pdFALSE);
+  }
+  else
+  {
+    // Give mutex
+    res = xSemaphoreGive(mutex);
+  }
+
+  // Find result
+  if(res == pdTRUE)
+  {
+    result = Result::RESULT_OK;
+  }
+  else
+  {
+    result = Result::ERR_MUTEX_RELEASE;
+  }
+  // Return result
+  return result;
+}