Clone of mbed rtos 2 for easy accessibility.
Fork of mbed-rtos by
rtos/Thread.cpp@118:6635230e06ba, 2016-07-25 (annotated)
- Committer:
- Kojto
- Date:
- Mon Jul 25 14:12:24 2016 +0100
- Revision:
- 118:6635230e06ba
- Parent:
- 115:11950e007d8a
- Child:
- 119:19af2d39a542
RTOS rev118
Compatible with the mbed library v122
Changes:
- warnings about duplicated CM symbols fix
- init sequence update - allows init array to be run prior kernel start
- RTOS with OS_TIMERS=0 fix for thread id
- Thread ctor is deprecated, use start() method
- main stack fix for IAR (set via linker script)
- add TCB context pointer
- provide thread safety for toolchains (std lib locks)
- add MBED_RTOS_SINGLE_THREAD macro (sets TSKCNT to 1 and TIMERS to 0)
- nrf51, nucleo l423kc, nucleo f767zi, nucleo f446ze, efm32 support addition
- add OSObserver function
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
emilmont | 8:88a1a9c26ae3 | 1 | /* mbed Microcontroller Library |
emilmont | 8:88a1a9c26ae3 | 2 | * Copyright (c) 2006-2012 ARM Limited |
emilmont | 8:88a1a9c26ae3 | 3 | * |
emilmont | 8:88a1a9c26ae3 | 4 | * Permission is hereby granted, free of charge, to any person obtaining a copy |
emilmont | 8:88a1a9c26ae3 | 5 | * of this software and associated documentation files (the "Software"), to deal |
emilmont | 8:88a1a9c26ae3 | 6 | * in the Software without restriction, including without limitation the rights |
emilmont | 8:88a1a9c26ae3 | 7 | * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
emilmont | 8:88a1a9c26ae3 | 8 | * copies of the Software, and to permit persons to whom the Software is |
emilmont | 8:88a1a9c26ae3 | 9 | * furnished to do so, subject to the following conditions: |
emilmont | 8:88a1a9c26ae3 | 10 | * |
emilmont | 8:88a1a9c26ae3 | 11 | * The above copyright notice and this permission notice shall be included in |
emilmont | 8:88a1a9c26ae3 | 12 | * all copies or substantial portions of the Software. |
emilmont | 8:88a1a9c26ae3 | 13 | * |
emilmont | 8:88a1a9c26ae3 | 14 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
emilmont | 8:88a1a9c26ae3 | 15 | * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
emilmont | 8:88a1a9c26ae3 | 16 | * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
emilmont | 8:88a1a9c26ae3 | 17 | * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
emilmont | 8:88a1a9c26ae3 | 18 | * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
emilmont | 8:88a1a9c26ae3 | 19 | * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE |
emilmont | 8:88a1a9c26ae3 | 20 | * SOFTWARE. |
emilmont | 8:88a1a9c26ae3 | 21 | */ |
emilmont | 8:88a1a9c26ae3 | 22 | #include "Thread.h" |
emilmont | 8:88a1a9c26ae3 | 23 | |
Kojto | 118:6635230e06ba | 24 | #include "mbed.h" |
mbed_official | 107:bdd541595fc5 | 25 | #include "rtos_idle.h" |
emilmont | 8:88a1a9c26ae3 | 26 | |
mbed_official | 112:53ace74b190c | 27 | // rt_tid2ptcb is an internal function which we exposed to get TCB for thread id |
mbed_official | 112:53ace74b190c | 28 | #undef NULL //Workaround for conflicting macros in rt_TypeDef.h and stdio.h |
mbed_official | 112:53ace74b190c | 29 | #include "rt_TypeDef.h" |
mbed_official | 112:53ace74b190c | 30 | |
mbed_official | 112:53ace74b190c | 31 | extern "C" P_TCB rt_tid2ptcb(osThreadId thread_id); |
mbed_official | 112:53ace74b190c | 32 | |
emilmont | 8:88a1a9c26ae3 | 33 | namespace rtos { |
emilmont | 8:88a1a9c26ae3 | 34 | |
Kojto | 118:6635230e06ba | 35 | void Thread::constructor(osPriority priority, |
Kojto | 118:6635230e06ba | 36 | uint32_t stack_size, unsigned char *stack_pointer) { |
Kojto | 118:6635230e06ba | 37 | _tid = 0; |
Kojto | 118:6635230e06ba | 38 | _dynamic_stack = (stack_pointer == NULL); |
Kojto | 118:6635230e06ba | 39 | |
mbed_official | 115:11950e007d8a | 40 | #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM) |
emilmont | 8:88a1a9c26ae3 | 41 | _thread_def.tpriority = priority; |
emilmont | 8:88a1a9c26ae3 | 42 | _thread_def.stacksize = stack_size; |
Kojto | 118:6635230e06ba | 43 | _thread_def.stack_pointer = (uint32_t*)stack_pointer; |
Kojto | 118:6635230e06ba | 44 | #endif |
Kojto | 118:6635230e06ba | 45 | } |
Kojto | 118:6635230e06ba | 46 | |
Kojto | 118:6635230e06ba | 47 | void Thread::constructor(Callback<void()> task, |
Kojto | 118:6635230e06ba | 48 | osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) { |
Kojto | 118:6635230e06ba | 49 | constructor(priority, stack_size, stack_pointer); |
Kojto | 118:6635230e06ba | 50 | |
Kojto | 118:6635230e06ba | 51 | switch (start(task)) { |
Kojto | 118:6635230e06ba | 52 | case osErrorResource: |
Kojto | 118:6635230e06ba | 53 | error("OS ran out of threads!\n"); |
Kojto | 118:6635230e06ba | 54 | break; |
Kojto | 118:6635230e06ba | 55 | case osErrorParameter: |
Kojto | 118:6635230e06ba | 56 | error("Thread already running!\n"); |
Kojto | 118:6635230e06ba | 57 | break; |
Kojto | 118:6635230e06ba | 58 | case osErrorNoMemory: |
Kojto | 118:6635230e06ba | 59 | error("Error allocating the stack memory\n"); |
Kojto | 118:6635230e06ba | 60 | default: |
Kojto | 118:6635230e06ba | 61 | break; |
Kojto | 118:6635230e06ba | 62 | } |
Kojto | 118:6635230e06ba | 63 | } |
Kojto | 118:6635230e06ba | 64 | |
Kojto | 118:6635230e06ba | 65 | osStatus Thread::start(Callback<void()> task) { |
Kojto | 118:6635230e06ba | 66 | if (_tid != 0) { |
Kojto | 118:6635230e06ba | 67 | return osErrorParameter; |
Kojto | 118:6635230e06ba | 68 | } |
Kojto | 118:6635230e06ba | 69 | |
Kojto | 118:6635230e06ba | 70 | #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM) |
Kojto | 118:6635230e06ba | 71 | _thread_def.pthread = (void (*)(const void *))Callback<void()>::thunk; |
Kojto | 118:6635230e06ba | 72 | if (_thread_def.stack_pointer == NULL) { |
Kojto | 118:6635230e06ba | 73 | _thread_def.stack_pointer = new uint32_t[_thread_def.stacksize/sizeof(uint32_t)]; |
emilmont | 8:88a1a9c26ae3 | 74 | if (_thread_def.stack_pointer == NULL) |
Kojto | 118:6635230e06ba | 75 | return osErrorNoMemory; |
emilmont | 8:88a1a9c26ae3 | 76 | } |
Kojto | 118:6635230e06ba | 77 | |
mbed_official | 84:143955ffb790 | 78 | //Fill the stack with a magic word for maximum usage checking |
Kojto | 118:6635230e06ba | 79 | for (uint32_t i = 0; i < (_thread_def.stacksize / sizeof(uint32_t)); i++) { |
mbed_official | 84:143955ffb790 | 80 | _thread_def.stack_pointer[i] = 0xE25A2EA5; |
mbed_official | 84:143955ffb790 | 81 | } |
emilmont | 8:88a1a9c26ae3 | 82 | #endif |
Kojto | 118:6635230e06ba | 83 | _task = task; |
Kojto | 118:6635230e06ba | 84 | _tid = osThreadCreate(&_thread_def, &_task); |
Kojto | 118:6635230e06ba | 85 | if (_tid == NULL) { |
Kojto | 118:6635230e06ba | 86 | if (_dynamic_stack) delete[] (_thread_def.stack_pointer); |
Kojto | 118:6635230e06ba | 87 | return osErrorResource; |
Kojto | 118:6635230e06ba | 88 | } |
Kojto | 118:6635230e06ba | 89 | return osOK; |
emilmont | 8:88a1a9c26ae3 | 90 | } |
emilmont | 8:88a1a9c26ae3 | 91 | |
emilmont | 8:88a1a9c26ae3 | 92 | osStatus Thread::terminate() { |
emilmont | 8:88a1a9c26ae3 | 93 | return osThreadTerminate(_tid); |
emilmont | 8:88a1a9c26ae3 | 94 | } |
emilmont | 8:88a1a9c26ae3 | 95 | |
Kojto | 118:6635230e06ba | 96 | osStatus Thread::join() { |
Kojto | 118:6635230e06ba | 97 | while (true) { |
Kojto | 118:6635230e06ba | 98 | uint8_t state = get_state(); |
Kojto | 118:6635230e06ba | 99 | if (state == Thread::Inactive || state == osErrorParameter) { |
Kojto | 118:6635230e06ba | 100 | return osOK; |
Kojto | 118:6635230e06ba | 101 | } |
Kojto | 118:6635230e06ba | 102 | |
Kojto | 118:6635230e06ba | 103 | osStatus status = yield(); |
Kojto | 118:6635230e06ba | 104 | if (status != osOK) { |
Kojto | 118:6635230e06ba | 105 | return status; |
Kojto | 118:6635230e06ba | 106 | } |
Kojto | 118:6635230e06ba | 107 | } |
Kojto | 118:6635230e06ba | 108 | } |
Kojto | 118:6635230e06ba | 109 | |
emilmont | 8:88a1a9c26ae3 | 110 | osStatus Thread::set_priority(osPriority priority) { |
emilmont | 8:88a1a9c26ae3 | 111 | return osThreadSetPriority(_tid, priority); |
emilmont | 8:88a1a9c26ae3 | 112 | } |
emilmont | 8:88a1a9c26ae3 | 113 | |
emilmont | 8:88a1a9c26ae3 | 114 | osPriority Thread::get_priority() { |
emilmont | 8:88a1a9c26ae3 | 115 | return osThreadGetPriority(_tid); |
emilmont | 8:88a1a9c26ae3 | 116 | } |
emilmont | 8:88a1a9c26ae3 | 117 | |
emilmont | 8:88a1a9c26ae3 | 118 | int32_t Thread::signal_set(int32_t signals) { |
emilmont | 8:88a1a9c26ae3 | 119 | return osSignalSet(_tid, signals); |
emilmont | 8:88a1a9c26ae3 | 120 | } |
emilmont | 8:88a1a9c26ae3 | 121 | |
mbed_official | 76:85a52b7ef44b | 122 | int32_t Thread::signal_clr(int32_t signals) { |
mbed_official | 76:85a52b7ef44b | 123 | return osSignalClear(_tid, signals); |
mbed_official | 76:85a52b7ef44b | 124 | } |
mbed_official | 76:85a52b7ef44b | 125 | |
emilmont | 8:88a1a9c26ae3 | 126 | Thread::State Thread::get_state() { |
mbed_official | 112:53ace74b190c | 127 | #if !defined(__MBED_CMSIS_RTOS_CA9) && !defined(__MBED_CMSIS_RTOS_CM) |
mbed_official | 112:53ace74b190c | 128 | #ifdef CMSIS_OS_RTX |
emilmont | 8:88a1a9c26ae3 | 129 | return ((State)_thread_def.tcb.state); |
mbed_official | 112:53ace74b190c | 130 | #endif |
mbed_official | 48:e9a2c7cb57a4 | 131 | #else |
mbed_official | 48:e9a2c7cb57a4 | 132 | uint8_t status; |
mbed_official | 48:e9a2c7cb57a4 | 133 | status = osThreadGetState(_tid); |
mbed_official | 48:e9a2c7cb57a4 | 134 | return ((State)status); |
mbed_official | 48:e9a2c7cb57a4 | 135 | #endif |
emilmont | 8:88a1a9c26ae3 | 136 | } |
emilmont | 8:88a1a9c26ae3 | 137 | |
mbed_official | 84:143955ffb790 | 138 | uint32_t Thread::stack_size() { |
mbed_official | 84:143955ffb790 | 139 | #ifndef __MBED_CMSIS_RTOS_CA9 |
mbed_official | 112:53ace74b190c | 140 | #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM) |
mbed_official | 84:143955ffb790 | 141 | return _thread_def.tcb.priv_stack; |
mbed_official | 84:143955ffb790 | 142 | #else |
mbed_official | 112:53ace74b190c | 143 | P_TCB tcb = rt_tid2ptcb(_tid); |
mbed_official | 112:53ace74b190c | 144 | return tcb->priv_stack; |
mbed_official | 112:53ace74b190c | 145 | #endif |
mbed_official | 112:53ace74b190c | 146 | #else |
mbed_official | 84:143955ffb790 | 147 | return 0; |
mbed_official | 84:143955ffb790 | 148 | #endif |
mbed_official | 84:143955ffb790 | 149 | } |
mbed_official | 84:143955ffb790 | 150 | |
mbed_official | 84:143955ffb790 | 151 | uint32_t Thread::free_stack() { |
mbed_official | 84:143955ffb790 | 152 | #ifndef __MBED_CMSIS_RTOS_CA9 |
mbed_official | 112:53ace74b190c | 153 | #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM) |
mbed_official | 84:143955ffb790 | 154 | uint32_t bottom = (uint32_t)_thread_def.tcb.stack; |
mbed_official | 84:143955ffb790 | 155 | return _thread_def.tcb.tsk_stack - bottom; |
mbed_official | 84:143955ffb790 | 156 | #else |
mbed_official | 112:53ace74b190c | 157 | P_TCB tcb = rt_tid2ptcb(_tid); |
mbed_official | 112:53ace74b190c | 158 | uint32_t bottom = (uint32_t)tcb->stack; |
mbed_official | 112:53ace74b190c | 159 | return tcb->tsk_stack - bottom; |
mbed_official | 112:53ace74b190c | 160 | #endif |
mbed_official | 112:53ace74b190c | 161 | #else |
mbed_official | 84:143955ffb790 | 162 | return 0; |
mbed_official | 84:143955ffb790 | 163 | #endif |
mbed_official | 84:143955ffb790 | 164 | } |
mbed_official | 84:143955ffb790 | 165 | |
mbed_official | 84:143955ffb790 | 166 | uint32_t Thread::used_stack() { |
mbed_official | 84:143955ffb790 | 167 | #ifndef __MBED_CMSIS_RTOS_CA9 |
mbed_official | 112:53ace74b190c | 168 | #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM) |
mbed_official | 84:143955ffb790 | 169 | uint32_t top = (uint32_t)_thread_def.tcb.stack + _thread_def.tcb.priv_stack; |
mbed_official | 84:143955ffb790 | 170 | return top - _thread_def.tcb.tsk_stack; |
mbed_official | 84:143955ffb790 | 171 | #else |
mbed_official | 112:53ace74b190c | 172 | P_TCB tcb = rt_tid2ptcb(_tid); |
mbed_official | 112:53ace74b190c | 173 | uint32_t top = (uint32_t)tcb->stack + tcb->priv_stack; |
mbed_official | 112:53ace74b190c | 174 | return top - tcb->tsk_stack; |
mbed_official | 112:53ace74b190c | 175 | #endif |
mbed_official | 112:53ace74b190c | 176 | #else |
mbed_official | 84:143955ffb790 | 177 | return 0; |
mbed_official | 84:143955ffb790 | 178 | #endif |
mbed_official | 84:143955ffb790 | 179 | } |
mbed_official | 84:143955ffb790 | 180 | |
mbed_official | 84:143955ffb790 | 181 | uint32_t Thread::max_stack() { |
mbed_official | 84:143955ffb790 | 182 | #ifndef __MBED_CMSIS_RTOS_CA9 |
mbed_official | 112:53ace74b190c | 183 | #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM) |
mbed_official | 84:143955ffb790 | 184 | uint32_t high_mark = 0; |
mbed_official | 84:143955ffb790 | 185 | while (_thread_def.tcb.stack[high_mark] == 0xE25A2EA5) |
mbed_official | 84:143955ffb790 | 186 | high_mark++; |
mbed_official | 84:143955ffb790 | 187 | return _thread_def.tcb.priv_stack - (high_mark * 4); |
mbed_official | 84:143955ffb790 | 188 | #else |
mbed_official | 112:53ace74b190c | 189 | P_TCB tcb = rt_tid2ptcb(_tid); |
mbed_official | 112:53ace74b190c | 190 | uint32_t high_mark = 0; |
mbed_official | 112:53ace74b190c | 191 | while (tcb->stack[high_mark] == 0xE25A2EA5) |
mbed_official | 112:53ace74b190c | 192 | high_mark++; |
mbed_official | 112:53ace74b190c | 193 | return tcb->priv_stack - (high_mark * 4); |
mbed_official | 112:53ace74b190c | 194 | #endif |
mbed_official | 112:53ace74b190c | 195 | #else |
mbed_official | 84:143955ffb790 | 196 | return 0; |
mbed_official | 84:143955ffb790 | 197 | #endif |
mbed_official | 84:143955ffb790 | 198 | } |
mbed_official | 84:143955ffb790 | 199 | |
emilmont | 8:88a1a9c26ae3 | 200 | osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) { |
emilmont | 8:88a1a9c26ae3 | 201 | return osSignalWait(signals, millisec); |
emilmont | 8:88a1a9c26ae3 | 202 | } |
emilmont | 8:88a1a9c26ae3 | 203 | |
emilmont | 8:88a1a9c26ae3 | 204 | osStatus Thread::wait(uint32_t millisec) { |
emilmont | 8:88a1a9c26ae3 | 205 | return osDelay(millisec); |
emilmont | 8:88a1a9c26ae3 | 206 | } |
emilmont | 8:88a1a9c26ae3 | 207 | |
emilmont | 8:88a1a9c26ae3 | 208 | osStatus Thread::yield() { |
emilmont | 8:88a1a9c26ae3 | 209 | return osThreadYield(); |
emilmont | 8:88a1a9c26ae3 | 210 | } |
emilmont | 8:88a1a9c26ae3 | 211 | |
emilmont | 8:88a1a9c26ae3 | 212 | osThreadId Thread::gettid() { |
emilmont | 8:88a1a9c26ae3 | 213 | return osThreadGetId(); |
emilmont | 8:88a1a9c26ae3 | 214 | } |
emilmont | 8:88a1a9c26ae3 | 215 | |
mbed_official | 107:bdd541595fc5 | 216 | void Thread::attach_idle_hook(void (*fptr)(void)) { |
mbed_official | 107:bdd541595fc5 | 217 | rtos_attach_idle_hook(fptr); |
mbed_official | 107:bdd541595fc5 | 218 | } |
mbed_official | 107:bdd541595fc5 | 219 | |
emilmont | 8:88a1a9c26ae3 | 220 | Thread::~Thread() { |
emilmont | 8:88a1a9c26ae3 | 221 | terminate(); |
mbed_official | 112:53ace74b190c | 222 | #ifdef __MBED_CMSIS_RTOS_CM |
emilmont | 8:88a1a9c26ae3 | 223 | if (_dynamic_stack) { |
emilmont | 8:88a1a9c26ae3 | 224 | delete[] (_thread_def.stack_pointer); |
emilmont | 8:88a1a9c26ae3 | 225 | } |
mbed_official | 112:53ace74b190c | 226 | #endif |
emilmont | 8:88a1a9c26ae3 | 227 | } |
emilmont | 8:88a1a9c26ae3 | 228 | |
emilmont | 8:88a1a9c26ae3 | 229 | } |