c87200a80d
- Create `Include/` folder for all main projects - Fix some issues here and there (found while moving things) - All includes are now in `Tactility/` subfolder and must be included with that prefix. This fixes issues with clashing POSIX headers (e.g. `<semaphore.h>` versus Tactility's `Semaphore.h`)
44 lines
965 B
C++
44 lines
965 B
C++
#include "Tactility/kernel/critical/Critical.h"
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#include "Tactility/CoreDefines.h"
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#include "Tactility/RtosCompatTask.h"
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#ifdef ESP_PLATFORM
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static portMUX_TYPE critical_mutex;
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#define TT_ENTER_CRITICAL() taskENTER_CRITICAL(&critical_mutex)
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#else
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#define TT_ENTER_CRITICAL() taskENTER_CRITICAL()
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#endif
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namespace tt::kernel::critical {
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CriticalInfo enter() {
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CriticalInfo info = {
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.isrm = 0,
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.fromIsr = TT_IS_ISR(),
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.kernelRunning = (xTaskGetSchedulerState() == taskSCHEDULER_RUNNING)
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};
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if (info.fromIsr) {
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info.isrm = taskENTER_CRITICAL_FROM_ISR();
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} else if (info.kernelRunning) {
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TT_ENTER_CRITICAL();
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} else {
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portDISABLE_INTERRUPTS();
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}
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return info;
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}
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void exit(CriticalInfo info) {
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if (info.fromIsr) {
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taskEXIT_CRITICAL_FROM_ISR(info.isrm);
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} else if (info.kernelRunning) {
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TT_ENTER_CRITICAL();
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} else {
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portENABLE_INTERRUPTS();
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}
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}
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}
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