Semi-Autonomous-Robot / Semi Autonomous Robot - ECE 4180

Code for controlling mbed hardware (LED's, motors), as well as code for the Raspberry Pi to run a Support Vector Machine that identifies objects using the Pi camera

Dependencies:   mbed Motordriver mbed-rtos PololuLedStrip

mbed/mbed-rtos/rtos/Mutex.cpp@3:a3ed7ff99772, 2019-12-06 (annotated)

Committer:
arogliero3
Date:
Fri Dec 06 00:58:02 2019 -0500
Revision:
3:a3ed7ff99772
Parent:
0:e0dbd261724a 
update img6

Who changed what in which revision?

UserRevisionLine numberNew contents of line
arogliero3 0:e0dbd261724a 1 /* mbed Microcontroller Library
arogliero3 0:e0dbd261724a 2 * Copyright (c) 2006-2012 ARM Limited
arogliero3 0:e0dbd261724a 3 *
arogliero3 0:e0dbd261724a 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
arogliero3 0:e0dbd261724a 5 * of this software and associated documentation files (the "Software"), to deal
arogliero3 0:e0dbd261724a 6 * in the Software without restriction, including without limitation the rights
arogliero3 0:e0dbd261724a 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
arogliero3 0:e0dbd261724a 8 * copies of the Software, and to permit persons to whom the Software is
arogliero3 0:e0dbd261724a 9 * furnished to do so, subject to the following conditions:
arogliero3 0:e0dbd261724a 10 *
arogliero3 0:e0dbd261724a 11 * The above copyright notice and this permission notice shall be included in
arogliero3 0:e0dbd261724a 12 * all copies or substantial portions of the Software.
arogliero3 0:e0dbd261724a 13 *
arogliero3 0:e0dbd261724a 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
arogliero3 0:e0dbd261724a 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
arogliero3 0:e0dbd261724a 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
arogliero3 0:e0dbd261724a 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
arogliero3 0:e0dbd261724a 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
arogliero3 0:e0dbd261724a 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
arogliero3 0:e0dbd261724a 20 * SOFTWARE.
arogliero3 0:e0dbd261724a 21 */
arogliero3 0:e0dbd261724a 22 #include "rtos/Mutex.h"
arogliero3 0:e0dbd261724a 23
arogliero3 0:e0dbd261724a 24 #include <string.h>
arogliero3 0:e0dbd261724a 25 #include "platform/mbed_error.h"
arogliero3 0:e0dbd261724a 26
arogliero3 0:e0dbd261724a 27 namespace rtos {
arogliero3 0:e0dbd261724a 28
arogliero3 0:e0dbd261724a 29 Mutex::Mutex() {
arogliero3 0:e0dbd261724a 30 #ifdef CMSIS_OS_RTX
arogliero3 0:e0dbd261724a 31 memset(_mutex_data, 0, sizeof(_mutex_data));
arogliero3 0:e0dbd261724a 32 _osMutexDef.mutex = _mutex_data;
arogliero3 0:e0dbd261724a 33 #endif
arogliero3 0:e0dbd261724a 34 _osMutexId = osMutexCreate(&_osMutexDef);
arogliero3 0:e0dbd261724a 35 if (_osMutexId == NULL) {
arogliero3 0:e0dbd261724a 36 error("Error initializing the mutex object\n");
arogliero3 0:e0dbd261724a 37 }
arogliero3 0:e0dbd261724a 38 }
arogliero3 0:e0dbd261724a 39
arogliero3 0:e0dbd261724a 40 osStatus Mutex::lock(uint32_t millisec) {
arogliero3 0:e0dbd261724a 41 return osMutexWait(_osMutexId, millisec);
arogliero3 0:e0dbd261724a 42 }
arogliero3 0:e0dbd261724a 43
arogliero3 0:e0dbd261724a 44 bool Mutex::trylock() {
arogliero3 0:e0dbd261724a 45 return (osMutexWait(_osMutexId, 0) == osOK);
arogliero3 0:e0dbd261724a 46 }
arogliero3 0:e0dbd261724a 47
arogliero3 0:e0dbd261724a 48 osStatus Mutex::unlock() {
arogliero3 0:e0dbd261724a 49 return osMutexRelease(_osMutexId);
arogliero3 0:e0dbd261724a 50 }
arogliero3 0:e0dbd261724a 51
arogliero3 0:e0dbd261724a 52 Mutex::~Mutex() {
arogliero3 0:e0dbd261724a 53 osMutexDelete(_osMutexId);
arogliero3 0:e0dbd261724a 54 }
arogliero3 0:e0dbd261724a 55
arogliero3 0:e0dbd261724a 56 }