4 files changed, 86 insertions, 19 deletions
diff --git a/src/include/ch.h b/src/include/ch.h
index be251415f..2c2bb2f7c 100644
--- a/src/include/ch.h
+++ b/src/include/ch.h
@@ -57,6 +57,10 @@
 #include "semaphores.h"
 #endif
 
+#ifndef _MUTEXES_H_
+#include "mutexes.h"
+#endif
+
 #ifndef _EVENTS_H_
 #include "events.h"
 #endif
diff --git a/src/include/mutexes.h b/src/include/mutexes.h
new file mode 100644
index 000000000..e2881423d
--- /dev/null
+++ b/src/include/mutexes.h
@@ -0,0 +1,66 @@
+/*
+    ChibiOS/RT - Copyright (C) 2006-2007 Giovanni Di Sirio.
+
+    This file is part of ChibiOS/RT.
+
+    ChibiOS/RT is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 3 of the License, or
+    (at your option) any later version.
+
+    ChibiOS/RT is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*/
+
+/**
+ * @addtogroup Mutexes
+ * @{
+ */
+
+#ifndef _MUTEXES_H_
+#define _MUTEXES_H_
+
+#ifdef CH_USE_MUTEXES
+
+typedef struct Mutex Mutex;
+
+struct Mutex {
+  /** Queue of the threads sleeping on this Mutex.*/
+  ThreadsQueue  m_queue;
+  /** Owner \p Thread pointer or \p NULL.*/
+  Thread        *m_owner;
+  /** Next \p Mutex into an owner-list, \p NULL if none.*/
+  Mutex         *m_next;
+};
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+  void chMtxInit(Mutex *mp);
+  void chMtxLock(Mutex *mp);
+  void chMtxLockS(Mutex *mp);
+  BOOL chMtxTryLock(Mutex *mp);
+  BOOL chMtxTryLockS(Mutex *mp);
+  void chMtxUnlock(void);
+  void chMtxUnlockS(void);
+  void chMtxUnlockAll(void);
+  void chMtxUnlockAllS(void);
+#ifdef __cplusplus
+}
+#endif
+
+/**
+ * Returns \p TRUE if the mutex queus contains at least a waiting thread.
+ */
+#define chMtxQueueNotEmptyS(mp) notempty(&(mp)->m_queue)
+
+#endif /* CH_USE_MUTEXES */
+
+#endif /* _MUTEXES_H_ */
+
+/** @} */
diff --git a/src/include/semaphores.h b/src/include/semaphores.h
index e17d03a6a..0457da81d 100644
--- a/src/include/semaphores.h
+++ b/src/include/semaphores.h
@@ -52,13 +52,6 @@ extern "C" {
   void chSemSignal(Semaphore *sp);
   void chSemSignalI(Semaphore *sp);
   void chSemSignalWait(Semaphore *sps, Semaphore *spw);
-
-#ifdef CH_USE_RT_SEMAPHORES
-  void chSemRaisePrioWait(Semaphore *sp);
-  void chSemLowerPrioSignal(Semaphore *sp);
-  void chSemRaisePrioSignalWait(Semaphore *sps, Semaphore *spw);
-  void chSemLowerPrioSignalWait(Semaphore *sps, Semaphore *spw);
-#endif
 #ifdef __cplusplus
 }
 #endif
@@ -82,6 +75,6 @@ extern "C" {
 
 #endif /* CH_USE_SEMAPHORES */
 
-#endif /* _SEM_H_ */
+#endif /* _SEMAPHORES_H_ */
 
 /** @} */
diff --git a/src/include/threads.h b/src/include/threads.h
index 0783c4e9a..241b44442 100644
--- a/src/include/threads.h
+++ b/src/include/threads.h
@@ -62,6 +62,9 @@ struct Thread {
     /** Semaphore where the thread is waiting on (only in \p PRWTSEM state).*/
     Semaphore       *p_semp;
 #endif
+#ifdef CH_USE_MUTEXES
+    Mutex           *p_mtxp;
+#endif
 #ifdef CH_USE_EVENTS
     /** Enabled events mask (only while in \p PRWTEVENT state).*/
     t_eventmask     p_ewmask;
@@ -96,9 +99,10 @@ struct Thread {
   /** Pending events mask.*/
   t_eventmask       p_epending;
 #endif
-#ifdef CH_USE_RT_SEMAPHORES
-  /** RT semaphores depth counter.*/
-  t_cnt             p_rtcnt;
+#ifdef CH_USE_MUTEXES
+  /** Owner mutexes list, \p NULL terminated.*/
+  Mutex             *p_mtxlist;
+  t_prio            p_realprio;
 #endif
 };
 
@@ -112,18 +116,20 @@ struct Thread {
 #define PRSUSPENDED 3
 /** Thread state: Waiting on a semaphore.*/
 #define PRWTSEM     4
+/** Thread state: Waiting on a mutex.*/
+#define PRWTMTX     5
 /** Thread state: Waiting in \p chThdSleep() or \p chThdSleepUntil().*/
-#define PRSLEEP     5
+#define PRSLEEP     6
 /** Thread state: Waiting in \p chThdWait().*/
-#define PRWAIT      6
+#define PRWAIT      7
 /** Thread state: Waiting in \p chEvtWait().*/
-#define PRWTEVENT   7
+#define PRWTEVENT   8
 /** Thread state: Waiting in \p chMsgSend().*/
-#define PRSNDMSG    8
+#define PRSNDMSG    9
 /** Thread state: Waiting in \p chMsgWait().*/
-#define PRWTMSG     9
+#define PRWTMSG     10
 /** Thread state: After termination.*/
-#define PREXIT      10
+#define PREXIT      11
 
 /** Thread option: Termination requested flag.*/
 #define P_TERMINATE 1
@@ -138,8 +144,6 @@ struct Thread {
 #define NORMALPRIO  64
 /** Highest user priority.*/
 #define HIGHPRIO    127
-/** Boosted base priority.*/
-#define MEPRIO      128
 /** Greatest possible priority.*/
 #define ABSPRIO     255