Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
pprz_mutex.h
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1 /*
2  * Copyright (C) 2016 Gautier Hattenberger <gautier.hattenberger@enac.fr>
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, see
18  * <http://www.gnu.org/licenses/>.
19  */
20 
28 #ifndef PPRZ_MUTEX_H
29 #define PPRZ_MUTEX_H
30 
31 #if USE_CHIBIOS_RTOS
32 
33 #include <ch.h>
34 
35 #define PPRZ_MUTEX(_mtx) mutex_t _mtx
36 #define PPRZ_MUTEX_DECL(_mtx) extern mutex_t _mtx
37 #define PPRZ_MUTEX_INIT(_mtx) chMtxObjectInit(&(_mtx))
38 #define PPRZ_MUTEX_LOCK(_mtx) chMtxLock(&(_mtx))
39 #define PPRZ_MUTEX_UNLOCK(_mtx) chMtxUnlock(&(_mtx))
40 
41 #else // no RTOS
42 
43 #define PPRZ_MUTEX(_mtx)
44 #define PPRZ_MUTEX_DECL(_mtx)
45 #define PPRZ_MUTEX_INIT(_mtx) {}
46 #define PPRZ_MUTEX_LOCK(_mtx) {}
47 #define PPRZ_MUTEX_UNLOCK(_mtx) {}
48 
49 #endif
50 
51 #endif
52