pios_mutex.c

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

#include "pios.h"
#include "pios_mutex.h"

#if !defined(PIOS_INCLUDE_RTOS)
#error "pios_mutex.c requires an RTOS"
#endif

#if defined(PIOS_INCLUDE_CHIBIOS)
struct pios_mutex
{
        Mutex mtx;
};

struct pios_recursive_mutex
{
        Mutex mtx;
        uint32_t count;
};

struct pios_mutex *PIOS_Mutex_Create(void)
{
        struct pios_mutex *mtx = PIOS_malloc_no_dma(sizeof(struct pios_mutex));

        if (mtx == NULL)
                return NULL;

        chMtxInit(&mtx->mtx);

        return mtx;
}

bool PIOS_Mutex_Lock(struct pios_mutex *mtx, uint32_t timeout_ms)
{
        PIOS_Assert(mtx != NULL);

        chMtxLock(&mtx->mtx);

        return true;
}

bool PIOS_Mutex_Unlock(struct pios_mutex *mtx)
{
        PIOS_Assert(mtx != NULL);

        chMtxUnlock();

        return true;
}

struct pios_recursive_mutex *PIOS_Recursive_Mutex_Create(void)
{
        struct pios_recursive_mutex *mtx = PIOS_malloc_no_dma(sizeof(struct pios_recursive_mutex));

        if (mtx == NULL)
                return NULL;

        chMtxInit(&mtx->mtx);
        mtx->count = 0;

        return mtx;
}

bool PIOS_Recursive_Mutex_Lock(struct pios_recursive_mutex *mtx, uint32_t timeout_ms)
{
        PIOS_Assert(mtx != NULL);

        chSysLock();

        if (chThdSelf() != mtx->mtx.m_owner)
                chMtxLockS(&mtx->mtx);

        ++mtx->count;

        chSysUnlock();

        return true;
}

bool PIOS_Recursive_Mutex_Unlock(struct pios_recursive_mutex *mtx)
{
        PIOS_Assert(mtx != NULL);

        chSysLock();

        --mtx->count;

        if (mtx->count == 0)
                chMtxUnlockS();

        chSysUnlock();

        return true;
}

#endif