Fixes

Drivers/BQ25896/Source/Bq25896.cpp

@@ -1,6 +1,8 @@
 #include "Bq25896.h"
 
-#define TAG "BQ27220"
+#include <Tactility/Log.h>
+
+constexpr auto* TAG = "BQ27220";
 
 void Bq25896::powerOff() {
     TT_LOG_I(TAG, "Power off");

Drivers/DRV2605/Source/Drv2605.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <Tactility/hal/i2c/I2cDevice.h>
+#include <Tactility/Log.h>
 
 class Drv2605 : public tt::hal::i2c::I2cDevice {
 

TactilityC/Source/tt_lock.cpp

@@ -33,7 +33,7 @@ bool tt_lock_acquire(LockHandle handle, TickType timeout) {
 }
 
 void tt_lock_release(LockHandle handle) {
-    return HANDLE_AS_LOCK(handle)->unlock();
+    HANDLE_AS_LOCK(handle)->unlock();
 }
 
 void tt_lock_free(LockHandle handle) {

TactilityCore/Source/kernel/critical/Critical.cpp

@@ -6,8 +6,10 @@
 #ifdef ESP_PLATFORM
 static portMUX_TYPE critical_mutex;
 #define TT_ENTER_CRITICAL() taskENTER_CRITICAL(&critical_mutex)
+#define TT_EXIT_CRITICAL() taskEXIT_CRITICAL(&critical_mutex)
 #else
 #define TT_ENTER_CRITICAL() taskENTER_CRITICAL()
+#define TT_EXIT_CRITICAL() taskEXIT_CRITICAL()
 #endif
 
 namespace tt::kernel::critical {
@@ -34,7 +36,7 @@ void exit(CriticalInfo info) {
     if (info.fromIsr) {
         taskEXIT_CRITICAL_FROM_ISR(info.isrm);
     } else if (info.kernelRunning) {
-        TT_ENTER_CRITICAL();
+        TT_EXIT_CRITICAL();
     } else {
         portENABLE_INTERRUPTS();
     }

TactilityFreeRtos/Include/Tactility/Dispatcher.h

@@ -37,14 +37,17 @@ private:
     Mutex mutex;
     std::queue<Function> queue = {};
     EventGroup eventFlag;
+    bool shutdown = false;
 
 public:
 
     explicit Dispatcher() = default;
 
     ~Dispatcher() {
-        mutex.lock();
+        shutdown = true;
-		mutex.unlock();
+        if (mutex.lock()) {
+		    mutex.unlock();
+        }
     }
 
     /**
@@ -62,6 +65,10 @@ public:
             return false;
         }
 
+        if (shutdown) {
+            return false;
+        }
+
         queue.push(std::move(function));
         if (queue.size() == BACKPRESSURE_WARNING_COUNT) {
 #ifdef ESP_PLATFORM
@@ -89,6 +96,10 @@ public:
             return 0;
         }
 
+        if (shutdown) {
+            return 0;
+        }
+
         // Mutate
         bool processing = true;
         uint32_t consumed = 0;
@@ -112,7 +123,7 @@ public:
 #endif
             }
 
-        } while (processing);
+        } while (processing && !shutdown);
 
         return consumed;
     }

TactilityFreeRtos/Include/Tactility/EventGroup.h

@@ -79,7 +79,7 @@ public:
      * @param[out] outError optional error output: this is set when the return value is false
      * @return true on success
      */
-    uint32_t clear(uint32_t flags, uint32_t* outFlags = nullptr, Error* outError = nullptr) const {
+    bool clear(uint32_t flags, uint32_t* outFlags = nullptr, Error* outError = nullptr) const {
         if (xPortInIsrContext() == pdTRUE) {
             uint32_t result = xEventGroupGetBitsFromISR(handle.get());
             if (xEventGroupClearBitsFromISR(handle.get(), flags) == pdFAIL) {

TactilityFreeRtos/Include/Tactility/Thread.h

@@ -88,11 +88,12 @@ private:
     portBASE_TYPE affinity = -1;
 
     void setState(State newState) {
-        // mutex.lock();
+        mutex.lock();
         state = newState;
         if (stateCallback) {
             stateCallback(state, stateCallbackContext);
         }
+        mutex.unlock();
     }
 
 public:
@@ -127,7 +128,7 @@ public:
     void setStackSize(size_t newStackSize) {
         mutex.lock();
         assert(state == State::Stopped);
-        assert(stackSize % 4 == 0);
+        assert(newStackSize % 4 == 0);
         stackSize = newStackSize;
         mutex.unlock();
     }

TactilityFreeRtos/Include/Tactility/kernel/Kernel.h

@@ -35,13 +35,13 @@ constexpr TickType_t getTicks() {
 
 /** @return the amount of milliseconds that has passed in the main kernel tasks */
 constexpr size_t getMillis() {
-    return getTicks() / portTICK_PERIOD_MS;
+    return getTicks() * portTICK_PERIOD_MS;
 }
 
 /** @return the microseconds that have passed since boot */
 constexpr int64_t getMicrosSinceBoot() {
 #ifdef ESP_PLATFORM
-    return static_cast<unsigned long>(esp_timer_get_time());
+    return esp_timer_get_time();
 #else
     timeval tv;
     gettimeofday(&tv, nullptr);

Tests/TactilityCore/Main.cpp

@@ -48,6 +48,8 @@ int main(int argc, char** argv) {
     assert(task_result == pdPASS);
 
     vTaskStartScheduler();
+
+    return data.result;
 }
 
 extern "C" {

Tests/TactilityFreeRtos/Main.cpp

@@ -48,6 +48,8 @@ int main(int argc, char** argv) {
     assert(task_result == pdPASS);
 
     vTaskStartScheduler();
+
+    return data.result;
 }
 
 extern "C" {