RFC: Proper Mutexes

Merged rahix requested to merge rahix/mutex into master

This MR is the first step towards tackling the locking issues which are plaguing the firmware right now. Commit 82fe0cd7 introduces a new mutex API and the rest of the commits port a few select mutex-uses to it. Those are:

  • Lifecycle/Core 1 mutex
  • Sensor streams
  • API dispatcher lock
  • FAT filesystem

The rationale behind the new mutex design is detailed in the docs added as part of this MR: mutex.rst. The API can be found in mutex.h.

Cc: @schneider

Edited by schneider

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