mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
451ff3514a
- add protection on ap and fbw state structures - add mutex abstraction macros - update closing of ap/fbw threads with sdlog
53 lines
1.4 KiB
C
53 lines
1.4 KiB
C
/*
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* Copyright (C) 2016 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file pprz_mutex.h
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*
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* Utility functions and macros to abstract some RTOS functionalities
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* such as mutexes.
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*/
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#ifndef PPRZ_MUTEX_H
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#define PPRZ_MUTEX_H
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#if USE_CHIBIOS_RTOS
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#include <ch.h>
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#define PPRZ_MUTEX(_mtx) mutex_t _mtx
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#define PPRZ_MUTEX_DECL(_mtx) extern mutex_t _mtx
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#define PPRZ_MUTEX_INIT(_mtx) chMtxObjectInit(&(_mtx))
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#define PPRZ_MUTEX_LOCK(_mtx) chMtxLock(&(_mtx))
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#define PPRZ_MUTEX_UNLOCK(_mtx) chMtxUnlock(&(_mtx))
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#else // no RTOS
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#define PPRZ_MUTEX(_mtx)
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#define PPRZ_MUTEX_DECL(_mtx)
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#define PPRZ_MUTEX_INIT(_mtx) {}
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#define PPRZ_MUTEX_LOCK(_mtx) {}
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#define PPRZ_MUTEX_UNLOCK(_mtx) {}
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#endif
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#endif
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