Implement freertos mutex wrapper

modules/control/Firmware/src/FreeRTOS/Mutex.cpp

@@ -0,0 +1,20 @@
+#include "Mutex.h"
+#include <etl/utility.h>
+
+freertos::Mutex::Mutex() : handle{xSemaphoreCreateMutex()} {}
+freertos::Mutex::Mutex(Mutex &&other) noexcept {
+  handle = etl::move(other.handle);
+}
+freertos::Mutex::~Mutex() { vSemaphoreDelete(handle); }
+auto freertos::Mutex::operator=(const Mutex &&other) noexcept -> Mutex & {
+  handle = etl::move(other.handle);
+  return *this;
+}
+auto freertos::Mutex::lock(TickType_t timeout) -> bool{
+  BaseType_t success = xSemaphoreTake(handle, timeout);
+  return success == pdTRUE ? true : false;
+}
+auto freertos::Mutex::unlock() -> bool {
+  BaseType_t success = xSemaphoreGive(handle);
+  return success == pdTRUE ? true : false;
+}

modules/control/Firmware/src/FreeRTOS/Mutex.h

@@ -0,0 +1,19 @@
+#pragma once
+#include <Arduino.h>
+
+namespace freertos {
+class Mutex {
+public:
+  Mutex();
+  Mutex(const Mutex &other) = delete;
+  Mutex(Mutex &&other) noexcept;
+  ~Mutex();
+  Mutex &operator=(const Mutex &other) = delete;
+  Mutex &operator=(const Mutex &&other) noexcept;
+  bool lock(TickType_t timeout = portMAX_DELAY);
+  bool unlock();
+
+private:
+  SemaphoreHandle_t handle;
+};
+} // namespace freertos