Thread.cpp

00001 /* mbed Microcontroller Library
00002  * Copyright (c) 2006-2012 ARM Limited
00003  *
00004  * Permission is hereby granted, free of charge, to any person obtaining a copy
00005  * of this software and associated documentation files (the "Software"), to deal
00006  * in the Software without restriction, including without limitation the rights
00007  * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008  * copies of the Software, and to permit persons to whom the Software is
00009  * furnished to do so, subject to the following conditions:
00010  *
00011  * The above copyright notice and this permission notice shall be included in
00012  * all copies or substantial portions of the Software.
00013  *
00014  * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015  * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016  * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017  * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018  * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019  * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
00020  * SOFTWARE.
00021  */
00022 #include "Thread.h"
00023 
00024 #include "mbed_error.h"
00025 #include "rtos_idle.h"
00026 
00027 namespace rtos {
00028 
00029 Thread::Thread(void (*task)(void const *argument), void *argument,
00030         osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
00031 #ifdef CMSIS_OS_RTX
00032     _thread_def.pthread = task;
00033     _thread_def.tpriority = priority;
00034     _thread_def.stacksize = stack_size;
00035     if (stack_pointer != NULL) {
00036         _thread_def.stack_pointer = (uint32_t*)stack_pointer;
00037         _dynamic_stack = false;
00038     } else {
00039         _thread_def.stack_pointer = new uint32_t[stack_size/sizeof(uint32_t)];
00040         if (_thread_def.stack_pointer == NULL)
00041             error("Error allocating the stack memory\n");
00042         _dynamic_stack = true;
00043     }
00044     
00045     //Fill the stack with a magic word for maximum usage checking
00046     for (uint32_t i = 0; i < (stack_size / sizeof(uint32_t)); i++) {
00047         _thread_def.stack_pointer[i] = 0xE25A2EA5;
00048     }
00049 #endif
00050     _tid = osThreadCreate(&_thread_def, argument);
00051 }
00052 
00053 osStatus Thread::terminate() {
00054     return osThreadTerminate(_tid);
00055 }
00056 
00057 osStatus Thread::set_priority(osPriority priority) {
00058     return osThreadSetPriority(_tid, priority);
00059 }
00060 
00061 osPriority Thread::get_priority() {
00062     return osThreadGetPriority(_tid);
00063 }
00064 
00065 int32_t Thread::signal_set(int32_t signals) {
00066     return osSignalSet(_tid, signals);
00067 }
00068 
00069 int32_t Thread::signal_clr(int32_t signals) {
00070     return osSignalClear(_tid, signals);
00071 }
00072 
00073 Thread::State Thread::get_state() {
00074 #ifndef __MBED_CMSIS_RTOS_CA9
00075     return ((State)_thread_def.tcb.state);
00076 #else
00077     uint8_t status;
00078     status = osThreadGetState(_tid);
00079     return ((State)status);
00080 #endif
00081 }
00082 
00083 uint32_t Thread::stack_size() {
00084 #ifndef __MBED_CMSIS_RTOS_CA9
00085     return _thread_def.tcb.priv_stack;
00086 #else
00087     return 0;
00088 #endif
00089 }
00090 
00091 uint32_t Thread::free_stack() {
00092 #ifndef __MBED_CMSIS_RTOS_CA9
00093     uint32_t bottom = (uint32_t)_thread_def.tcb.stack;
00094     return _thread_def.tcb.tsk_stack - bottom;
00095 #else
00096     return 0;
00097 #endif
00098 }
00099 
00100 uint32_t Thread::used_stack() {
00101 #ifndef __MBED_CMSIS_RTOS_CA9
00102     uint32_t top = (uint32_t)_thread_def.tcb.stack + _thread_def.tcb.priv_stack;
00103     return top - _thread_def.tcb.tsk_stack;
00104 #else
00105     return 0;
00106 #endif
00107 }
00108 
00109 uint32_t Thread::max_stack() {
00110 #ifndef __MBED_CMSIS_RTOS_CA9
00111     uint32_t high_mark = 0;
00112     while (_thread_def.tcb.stack[high_mark] == 0xE25A2EA5)
00113         high_mark++;
00114     return _thread_def.tcb.priv_stack - (high_mark * 4);
00115 #else
00116     return 0;
00117 #endif
00118 }
00119 
00120 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
00121     return osSignalWait(signals, millisec);
00122 }
00123 
00124 osStatus Thread::wait(uint32_t millisec) {
00125     return osDelay(millisec);
00126 }
00127 
00128 osStatus Thread::yield() {
00129     return osThreadYield();
00130 }
00131 
00132 osThreadId Thread::gettid() {
00133     return osThreadGetId();
00134 }
00135 
00136 void Thread::attach_idle_hook(void (*fptr)(void)) {
00137     rtos_attach_idle_hook(fptr);
00138 }
00139 
00140 Thread::~Thread() {
00141     terminate();
00142     if (_dynamic_stack) {
00143         delete[] (_thread_def.stack_pointer);
00144     }
00145 }
00146 
00147 }