adding mutexes, cleaning up types

mission/freeRTOS_rust_helper.c

@@ -10,7 +10,8 @@ void stop_it() { taskENTER_CRITICAL(); }
 
 // TODO return some error code?
 void *create_task(TaskFunction_t taskFunction, void *parameter,
-                  size_t stack_size) {
+                  uint32_t stack_size) {
+  //TODO verify uint32_t vs configSTACK_DEPTH_TYPE
   TaskHandle_t newTask;
   BaseType_t result =
       xTaskCreate(taskFunction, "rust", stack_size, parameter, 4, &newTask);
@@ -22,6 +23,7 @@ void *create_task(TaskFunction_t taskFunction, void *parameter,
 }
 
 void task_delay(uint32_t milliseconds) {
+  //TODO verify uint32_t vs TickType_t
   vTaskDelay(pdMS_TO_TICKS(milliseconds));
 }
 
@@ -29,7 +31,8 @@ void delete_task(void * task){
   vTaskSuspend(task); //we can not use vDeleteTask as it would free the allocated memory which is forbidden using heap1 (which we use)
 }
 
-void *create_queue(size_t length, size_t element_size) {
+void *create_queue(uint32_t length, uint32_t element_size) {
+  //TODO verify uint32_t vs UBaseType_t
   QueueHandle_t newQueue = xQueueCreate(length, element_size);
   return newQueue;
 }
@@ -48,4 +51,28 @@ uint8_t queue_send(void *queue, void *message) {
   } else {
     return 0;
   }
+}
+
+void *create_mutex() {
+  return xSemaphoreCreateRecursiveMutex();
+}
+
+uint8_t take_mutex(void * handle) {
+  // TODO check if global semaphore is free (ie, we are doing multitasking)
+  // if not, pointers are invalid, bail out
+  if (xSemaphoreTakeRecursive(handle, portMAX_DELAY) == pdPASS) {
+    return 1;
+  } else {
+    return 0;
+  }
+}
+
+uint8_t give_mutex(void * handle) {
+  // TODO check if global semaphore is free (ie, we are doing multitasking)
+  // if not, pointers are invalid, bail out
+  if (xSemaphoreGiveRecursive(handle) == pdPASS) {
+    return 1;
+  } else {
+    return 0;
+  }
 }