chore(bhi160): Port to new mutex & hwlock APIs

Port the bhi160 mutex and hwlock usage in bhi.c to the new mutex API.
This will hopefully increase system stability.

Signed-off-by: Rahix <rahix@rahix.de>

epicardium/modules/bhi.c

@@ -9,7 +9,6 @@
 
 #include "FreeRTOS.h"
 #include "task.h"
-#include "semphr.h"
 #include "queue.h"
 
 #include "api/interrupt-sender.h"
@@ -18,9 +17,6 @@
 #include "modules/modules.h"
 #include "modules/stream.h"
 
-/* Ticks to wait when trying to acquire lock */
-#define LOCK_WAIT pdMS_TO_TICKS(BHI160_MUTEX_WAIT_MS)
-
 /* BHI160 Firmware Blob.  Contents are defined in libcard10. */
 extern uint8_t bhy1_fw[];
 
@@ -57,8 +53,7 @@ static size_t start_index = 0;
 static TaskHandle_t bhi160_task_id = NULL;
 
 /* BHI160 Mutex */
-static StaticSemaphore_t bhi160_mutex_data;
-static SemaphoreHandle_t bhi160_mutex = NULL;
+static struct mutex bhi160_mutex = { 0 };
 
 /* Streams */
 static struct stream_info bhi160_streams[10];
@@ -135,15 +130,8 @@ int epic_bhi160_enable_sensor(
 		return -ENODEV;
 	}
 
-	result = hwlock_acquire_timeout(HWLOCK_I2C, portMAX_DELAY);
-	if (result < 0) {
-		return result;
-	}
-
-	if (xSemaphoreTake(bhi160_mutex, LOCK_WAIT) != pdTRUE) {
-		result = -EBUSY;
-		goto out_free_i2c;
-	}
+	mutex_lock(&bhi160_mutex);
+	hwlock_acquire(HWLOCK_I2C);
 
 	struct stream_info *stream = &bhi160_streams[sensor_type];
 	stream->item_size          = bhi160_lookup_data_size(sensor_type);
@@ -152,12 +140,12 @@ int epic_bhi160_enable_sensor(
 		xQueueCreate(config->sample_buffer_len, stream->item_size);
 	if (stream->queue == NULL) {
 		result = -ENOMEM;
-		goto out_free_both;
+		goto out_free;
 	}
 
 	result = stream_register(bhi160_lookup_sd(sensor_type), stream);
 	if (result < 0) {
-		goto out_free_both;
+		goto out_free;
 	}
 
 	result = bhy_enable_virtual_sensor(
@@ -170,16 +158,16 @@ int epic_bhi160_enable_sensor(
 		config->dynamic_range /* dynamic range is sensor dependent */
 	);
 	if (result != BHY_SUCCESS) {
-		goto out_free_both;
+		goto out_free;
 	}
 
 	bhi160_sensor_active[sensor_type] = true;
-	result                            = bhi160_lookup_sd(sensor_type);
+	/* Return the sensor stream descriptor */
+	result = bhi160_lookup_sd(sensor_type);
 
-out_free_both:
-	xSemaphoreGive(bhi160_mutex);
-out_free_i2c:
+out_free:
 	hwlock_release(HWLOCK_I2C);
+	mutex_unlock(&bhi160_mutex);
 	return result;
 }
 
@@ -192,36 +180,28 @@ int epic_bhi160_disable_sensor(enum bhi160_sensor_type sensor_type)
 		return -ENODEV;
 	}
 
-	result = hwlock_acquire_timeout(HWLOCK_I2C, portMAX_DELAY);
-	if (result < 0) {
-		return result;
-	}
-
-	if (xSemaphoreTake(bhi160_mutex, LOCK_WAIT) != pdTRUE) {
-		result = -EBUSY;
-		goto out_free_i2c;
-	}
+	mutex_lock(&bhi160_mutex);
+	hwlock_acquire(HWLOCK_I2C);
 
 	struct stream_info *stream = &bhi160_streams[sensor_type];
 	result = stream_deregister(bhi160_lookup_sd(sensor_type), stream);
 	if (result < 0) {
-		goto out_free_both;
+		goto out_free;
 	}
 
 	vQueueDelete(stream->queue);
 	stream->queue = NULL;
 	result        = bhy_disable_virtual_sensor(vs_id, VS_WAKEUP);
 	if (result < 0) {
-		goto out_free_both;
+		goto out_free;
 	}
 
 	bhi160_sensor_active[sensor_type] = false;
 
 	result = 0;
-out_free_both:
-	xSemaphoreGive(bhi160_mutex);
-out_free_i2c:
+out_free:
 	hwlock_release(HWLOCK_I2C);
+	mutex_unlock(&bhi160_mutex);
 	return result;
 }
 
@@ -347,15 +327,8 @@ static int bhi160_fetch_fifo(void)
 	/* Number of bytes left in BHI160's FIFO buffer */
 	uint16_t bytes_left_in_fifo = 1;
 
-	result = hwlock_acquire_timeout(HWLOCK_I2C, portMAX_DELAY);
-	if (result < 0) {
-		return result;
-	}
-
-	if (xSemaphoreTake(bhi160_mutex, LOCK_WAIT) != pdTRUE) {
-		result = -EBUSY;
-		goto out_free_i2c;
-	}
+	mutex_lock(&bhi160_mutex);
+	hwlock_acquire(HWLOCK_I2C);
 
 	while (bytes_left_in_fifo) {
 		/* Fill local FIFO buffer with as many bytes as possible */
@@ -398,9 +371,8 @@ static int bhi160_fetch_fifo(void)
 		start_index = bytes_left;
 	}
 
-	xSemaphoreGive(bhi160_mutex);
-out_free_i2c:
 	hwlock_release(HWLOCK_I2C);
+	mutex_unlock(&bhi160_mutex);
 	return result;
 }
 
@@ -426,24 +398,10 @@ void vBhi160Task(void *pvParameters)
 	int ret;
 
 	bhi160_task_id = xTaskGetCurrentTaskHandle();
-	bhi160_mutex   = xSemaphoreCreateMutexStatic(&bhi160_mutex_data);
-
-	/*
-	 * Wait a little before initializing BHI160.
-	 */
-	vTaskDelay(pdMS_TO_TICKS(3));
 
-	int lockret = hwlock_acquire_timeout(HWLOCK_I2C, portMAX_DELAY);
-	if (lockret < 0) {
-		LOG_CRIT("bhi160", "Failed to acquire I2C lock!");
-		vTaskDelay(portMAX_DELAY);
-	}
-
-	/* Take Mutex during initialization, just in case */
-	if (xSemaphoreTake(bhi160_mutex, 0) != pdTRUE) {
-		LOG_CRIT("bhi160", "Failed to acquire BHI160 mutex!");
-		vTaskDelay(portMAX_DELAY);
-	}
+	mutex_create(&bhi160_mutex);
+	mutex_lock(&bhi160_mutex);
+	hwlock_acquire(HWLOCK_I2C);
 
 	memset(bhi160_streams, 0x00, sizeof(bhi160_streams));
 
@@ -469,11 +427,7 @@ void vBhi160Task(void *pvParameters)
 	/* Wait for first interrupt */
 	hwlock_release(HWLOCK_I2C);
 	ulTaskNotifyTake(pdTRUE, pdMS_TO_TICKS(100));
-	lockret = hwlock_acquire_timeout(HWLOCK_I2C, portMAX_DELAY);
-	if (lockret < 0) {
-		LOG_CRIT("bhi160", "Failed to acquire I2C lock!");
-		vTaskDelay(portMAX_DELAY);
-	}
+	hwlock_acquire(HWLOCK_I2C);
 
 	/* Remap axes to match card10 layout */
 	/* Due to a known issue (#133) the first call to
@@ -494,8 +448,8 @@ void vBhi160Task(void *pvParameters)
 	/* Set "SIC" matrix.  TODO: Find out what this is about */
 	bhy_set_sic_matrix(bhi160_sic_array);
 
-	xSemaphoreGive(bhi160_mutex);
 	hwlock_release(HWLOCK_I2C);
+	mutex_unlock(&bhi160_mutex);
 
 	/* ----------------------------------------- */