Giovanni, for my selfbalancing robot, I want to use ChibiOS/NIL just for test purpose and see how it react and compare it to the ChibiOS/RT.
For that, I need to build the ADC low level driver. Normally this is not used, it is just use in configuration part, for tuning my PID

But when I build the ADC, I have an error, that said that mutex are not yet supported in NIL.
Note: I based my work on an old version of trunk, so maybe the support is now part of the NIL? Or if it is not the case, do you plan to add it?
Thanks.