cebri alyac / mbed-rtos

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Dependents:   Asservissement_Gyro

rtos/Thread.cpp@0:77205fc699b9, 2022-05-08 (annotated)

Committer:
braichi13
Date:
Sun May 08 14:39:47 2022 +0000
Revision:
0:77205fc699b9
Programme du Gyropode

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braichi13 0:77205fc699b9 1 /* mbed Microcontroller Library
braichi13 0:77205fc699b9 2 * Copyright (c) 2006-2012 ARM Limited
braichi13 0:77205fc699b9 3 *
braichi13 0:77205fc699b9 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
braichi13 0:77205fc699b9 5 * of this software and associated documentation files (the "Software"), to deal
braichi13 0:77205fc699b9 6 * in the Software without restriction, including without limitation the rights
braichi13 0:77205fc699b9 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
braichi13 0:77205fc699b9 8 * copies of the Software, and to permit persons to whom the Software is
braichi13 0:77205fc699b9 9 * furnished to do so, subject to the following conditions:
braichi13 0:77205fc699b9 10 *
braichi13 0:77205fc699b9 11 * The above copyright notice and this permission notice shall be included in
braichi13 0:77205fc699b9 12 * all copies or substantial portions of the Software.
braichi13 0:77205fc699b9 13 *
braichi13 0:77205fc699b9 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
braichi13 0:77205fc699b9 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
braichi13 0:77205fc699b9 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
braichi13 0:77205fc699b9 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
braichi13 0:77205fc699b9 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
braichi13 0:77205fc699b9 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
braichi13 0:77205fc699b9 20 * SOFTWARE.
braichi13 0:77205fc699b9 21 */
braichi13 0:77205fc699b9 22 #include "rtos/Thread.h"
braichi13 0:77205fc699b9 23
braichi13 0:77205fc699b9 24 #include "mbed.h"
braichi13 0:77205fc699b9 25 #include "rtos/rtos_idle.h"
braichi13 0:77205fc699b9 26
braichi13 0:77205fc699b9 27 // rt_tid2ptcb is an internal function which we exposed to get TCB for thread id
braichi13 0:77205fc699b9 28 #undef NULL //Workaround for conflicting macros in rt_TypeDef.h and stdio.h
braichi13 0:77205fc699b9 29 #include "rt_TypeDef.h"
braichi13 0:77205fc699b9 30
braichi13 0:77205fc699b9 31 extern "C" P_TCB rt_tid2ptcb(osThreadId thread_id);
braichi13 0:77205fc699b9 32
braichi13 0:77205fc699b9 33
braichi13 0:77205fc699b9 34 static void (*terminate_hook)(osThreadId id) = 0;
braichi13 0:77205fc699b9 35 extern "C" void thread_terminate_hook(osThreadId id)
braichi13 0:77205fc699b9 36 {
braichi13 0:77205fc699b9 37 if (terminate_hook != (void (*)(osThreadId))NULL) {
braichi13 0:77205fc699b9 38 terminate_hook(id);
braichi13 0:77205fc699b9 39 }
braichi13 0:77205fc699b9 40 }
braichi13 0:77205fc699b9 41
braichi13 0:77205fc699b9 42 namespace rtos {
braichi13 0:77205fc699b9 43
braichi13 0:77205fc699b9 44 void Thread::constructor(osPriority priority,
braichi13 0:77205fc699b9 45 uint32_t stack_size, unsigned char *stack_pointer) {
braichi13 0:77205fc699b9 46 _tid = 0;
braichi13 0:77205fc699b9 47 _dynamic_stack = (stack_pointer == NULL);
braichi13 0:77205fc699b9 48
braichi13 0:77205fc699b9 49 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
braichi13 0:77205fc699b9 50 _thread_def.tpriority = priority;
braichi13 0:77205fc699b9 51 _thread_def.stacksize = stack_size;
braichi13 0:77205fc699b9 52 _thread_def.stack_pointer = (uint32_t*)stack_pointer;
braichi13 0:77205fc699b9 53 #endif
braichi13 0:77205fc699b9 54 }
braichi13 0:77205fc699b9 55
braichi13 0:77205fc699b9 56 void Thread::constructor(Callback<void()> task,
braichi13 0:77205fc699b9 57 osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
braichi13 0:77205fc699b9 58 constructor(priority, stack_size, stack_pointer);
braichi13 0:77205fc699b9 59
braichi13 0:77205fc699b9 60 switch (start(task)) {
braichi13 0:77205fc699b9 61 case osErrorResource:
braichi13 0:77205fc699b9 62 error("OS ran out of threads!\n");
braichi13 0:77205fc699b9 63 break;
braichi13 0:77205fc699b9 64 case osErrorParameter:
braichi13 0:77205fc699b9 65 error("Thread already running!\n");
braichi13 0:77205fc699b9 66 break;
braichi13 0:77205fc699b9 67 case osErrorNoMemory:
braichi13 0:77205fc699b9 68 error("Error allocating the stack memory\n");
braichi13 0:77205fc699b9 69 default:
braichi13 0:77205fc699b9 70 break;
braichi13 0:77205fc699b9 71 }
braichi13 0:77205fc699b9 72 }
braichi13 0:77205fc699b9 73
braichi13 0:77205fc699b9 74 osStatus Thread::start(Callback<void()> task) {
braichi13 0:77205fc699b9 75 _mutex.lock();
braichi13 0:77205fc699b9 76
braichi13 0:77205fc699b9 77 if (_tid != 0) {
braichi13 0:77205fc699b9 78 _mutex.unlock();
braichi13 0:77205fc699b9 79 return osErrorParameter;
braichi13 0:77205fc699b9 80 }
braichi13 0:77205fc699b9 81
braichi13 0:77205fc699b9 82 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
braichi13 0:77205fc699b9 83 _thread_def.pthread = Thread::_thunk;
braichi13 0:77205fc699b9 84 if (_thread_def.stack_pointer == NULL) {
braichi13 0:77205fc699b9 85 _thread_def.stack_pointer = new uint32_t[_thread_def.stacksize/sizeof(uint32_t)];
braichi13 0:77205fc699b9 86 MBED_ASSERT(_thread_def.stack_pointer != NULL);
braichi13 0:77205fc699b9 87 }
braichi13 0:77205fc699b9 88
braichi13 0:77205fc699b9 89 //Fill the stack with a magic word for maximum usage checking
braichi13 0:77205fc699b9 90 for (uint32_t i = 0; i < (_thread_def.stacksize / sizeof(uint32_t)); i++) {
braichi13 0:77205fc699b9 91 _thread_def.stack_pointer[i] = 0xE25A2EA5;
braichi13 0:77205fc699b9 92 }
braichi13 0:77205fc699b9 93 #endif
braichi13 0:77205fc699b9 94 _task = task;
braichi13 0:77205fc699b9 95 _tid = osThreadCreate(&_thread_def, this);
braichi13 0:77205fc699b9 96 if (_tid == NULL) {
braichi13 0:77205fc699b9 97 if (_dynamic_stack) {
braichi13 0:77205fc699b9 98 delete[] (_thread_def.stack_pointer);
braichi13 0:77205fc699b9 99 _thread_def.stack_pointer = (uint32_t*)NULL;
braichi13 0:77205fc699b9 100 }
braichi13 0:77205fc699b9 101 _mutex.unlock();
braichi13 0:77205fc699b9 102 _join_sem.release();
braichi13 0:77205fc699b9 103 return osErrorResource;
braichi13 0:77205fc699b9 104 }
braichi13 0:77205fc699b9 105
braichi13 0:77205fc699b9 106 _mutex.unlock();
braichi13 0:77205fc699b9 107 return osOK;
braichi13 0:77205fc699b9 108 }
braichi13 0:77205fc699b9 109
braichi13 0:77205fc699b9 110 osStatus Thread::terminate() {
braichi13 0:77205fc699b9 111 osStatus ret;
braichi13 0:77205fc699b9 112 _mutex.lock();
braichi13 0:77205fc699b9 113
braichi13 0:77205fc699b9 114 // Set the Thread's tid to NULL and
braichi13 0:77205fc699b9 115 // release the semaphore before terminating
braichi13 0:77205fc699b9 116 // since this thread could be terminating itself
braichi13 0:77205fc699b9 117 osThreadId local_id = _tid;
braichi13 0:77205fc699b9 118 _join_sem.release();
braichi13 0:77205fc699b9 119 _tid = (osThreadId)NULL;
braichi13 0:77205fc699b9 120
braichi13 0:77205fc699b9 121 ret = osThreadTerminate(local_id);
braichi13 0:77205fc699b9 122
braichi13 0:77205fc699b9 123 _mutex.unlock();
braichi13 0:77205fc699b9 124 return ret;
braichi13 0:77205fc699b9 125 }
braichi13 0:77205fc699b9 126
braichi13 0:77205fc699b9 127 osStatus Thread::join() {
braichi13 0:77205fc699b9 128 int32_t ret = _join_sem.wait();
braichi13 0:77205fc699b9 129 if (ret < 0) {
braichi13 0:77205fc699b9 130 return osErrorOS;
braichi13 0:77205fc699b9 131 }
braichi13 0:77205fc699b9 132
braichi13 0:77205fc699b9 133 // The semaphore has been released so this thread is being
braichi13 0:77205fc699b9 134 // terminated or has been terminated. Once the mutex has
braichi13 0:77205fc699b9 135 // been locked it is ensured that the thread is deleted.
braichi13 0:77205fc699b9 136 _mutex.lock();
braichi13 0:77205fc699b9 137 MBED_ASSERT(NULL == _tid);
braichi13 0:77205fc699b9 138 _mutex.unlock();
braichi13 0:77205fc699b9 139
braichi13 0:77205fc699b9 140 // Release sem so any other threads joining this thread wake up
braichi13 0:77205fc699b9 141 _join_sem.release();
braichi13 0:77205fc699b9 142 return osOK;
braichi13 0:77205fc699b9 143 }
braichi13 0:77205fc699b9 144
braichi13 0:77205fc699b9 145 osStatus Thread::set_priority(osPriority priority) {
braichi13 0:77205fc699b9 146 osStatus ret;
braichi13 0:77205fc699b9 147 _mutex.lock();
braichi13 0:77205fc699b9 148
braichi13 0:77205fc699b9 149 ret = osThreadSetPriority(_tid, priority);
braichi13 0:77205fc699b9 150
braichi13 0:77205fc699b9 151 _mutex.unlock();
braichi13 0:77205fc699b9 152 return ret;
braichi13 0:77205fc699b9 153 }
braichi13 0:77205fc699b9 154
braichi13 0:77205fc699b9 155 osPriority Thread::get_priority() {
braichi13 0:77205fc699b9 156 osPriority ret;
braichi13 0:77205fc699b9 157 _mutex.lock();
braichi13 0:77205fc699b9 158
braichi13 0:77205fc699b9 159 ret = osThreadGetPriority(_tid);
braichi13 0:77205fc699b9 160
braichi13 0:77205fc699b9 161 _mutex.unlock();
braichi13 0:77205fc699b9 162 return ret;
braichi13 0:77205fc699b9 163 }
braichi13 0:77205fc699b9 164
braichi13 0:77205fc699b9 165 int32_t Thread::signal_set(int32_t signals) {
braichi13 0:77205fc699b9 166 // osSignalSet is thread safe as long as the underlying
braichi13 0:77205fc699b9 167 // thread does not get terminated or return from main
braichi13 0:77205fc699b9 168 return osSignalSet(_tid, signals);
braichi13 0:77205fc699b9 169 }
braichi13 0:77205fc699b9 170
braichi13 0:77205fc699b9 171 int32_t Thread::signal_clr(int32_t signals) {
braichi13 0:77205fc699b9 172 // osSignalClear is thread safe as long as the underlying
braichi13 0:77205fc699b9 173 // thread does not get terminated or return from main
braichi13 0:77205fc699b9 174 return osSignalClear(_tid, signals);
braichi13 0:77205fc699b9 175 }
braichi13 0:77205fc699b9 176
braichi13 0:77205fc699b9 177 Thread::State Thread::get_state() {
braichi13 0:77205fc699b9 178 #if !defined(__MBED_CMSIS_RTOS_CA9) && !defined(__MBED_CMSIS_RTOS_CM)
braichi13 0:77205fc699b9 179 #ifdef CMSIS_OS_RTX
braichi13 0:77205fc699b9 180 State status = Deleted;
braichi13 0:77205fc699b9 181 _mutex.lock();
braichi13 0:77205fc699b9 182
braichi13 0:77205fc699b9 183 if (_tid != NULL) {
braichi13 0:77205fc699b9 184 status = (State)_thread_def.tcb.state;
braichi13 0:77205fc699b9 185 }
braichi13 0:77205fc699b9 186
braichi13 0:77205fc699b9 187 _mutex.unlock();
braichi13 0:77205fc699b9 188 return status;
braichi13 0:77205fc699b9 189 #endif
braichi13 0:77205fc699b9 190 #else
braichi13 0:77205fc699b9 191 State status = Deleted;
braichi13 0:77205fc699b9 192 _mutex.lock();
braichi13 0:77205fc699b9 193
braichi13 0:77205fc699b9 194 if (_tid != NULL) {
braichi13 0:77205fc699b9 195 status = (State)osThreadGetState(_tid);
braichi13 0:77205fc699b9 196 }
braichi13 0:77205fc699b9 197
braichi13 0:77205fc699b9 198 _mutex.unlock();
braichi13 0:77205fc699b9 199 return status;
braichi13 0:77205fc699b9 200 #endif
braichi13 0:77205fc699b9 201 }
braichi13 0:77205fc699b9 202
braichi13 0:77205fc699b9 203 uint32_t Thread::stack_size() {
braichi13 0:77205fc699b9 204 #ifndef __MBED_CMSIS_RTOS_CA9
braichi13 0:77205fc699b9 205 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
braichi13 0:77205fc699b9 206 uint32_t size = 0;
braichi13 0:77205fc699b9 207 _mutex.lock();
braichi13 0:77205fc699b9 208
braichi13 0:77205fc699b9 209 if (_tid != NULL) {
braichi13 0:77205fc699b9 210 size = _thread_def.tcb.priv_stack;
braichi13 0:77205fc699b9 211 }
braichi13 0:77205fc699b9 212
braichi13 0:77205fc699b9 213 _mutex.unlock();
braichi13 0:77205fc699b9 214 return size;
braichi13 0:77205fc699b9 215 #else
braichi13 0:77205fc699b9 216 uint32_t size = 0;
braichi13 0:77205fc699b9 217 _mutex.lock();
braichi13 0:77205fc699b9 218
braichi13 0:77205fc699b9 219 if (_tid != NULL) {
braichi13 0:77205fc699b9 220 P_TCB tcb = rt_tid2ptcb(_tid);
braichi13 0:77205fc699b9 221 size = tcb->priv_stack;
braichi13 0:77205fc699b9 222 }
braichi13 0:77205fc699b9 223
braichi13 0:77205fc699b9 224 _mutex.unlock();
braichi13 0:77205fc699b9 225 return size;
braichi13 0:77205fc699b9 226 #endif
braichi13 0:77205fc699b9 227 #else
braichi13 0:77205fc699b9 228 return 0;
braichi13 0:77205fc699b9 229 #endif
braichi13 0:77205fc699b9 230 }
braichi13 0:77205fc699b9 231
braichi13 0:77205fc699b9 232 uint32_t Thread::free_stack() {
braichi13 0:77205fc699b9 233 #ifndef __MBED_CMSIS_RTOS_CA9
braichi13 0:77205fc699b9 234 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
braichi13 0:77205fc699b9 235 uint32_t size = 0;
braichi13 0:77205fc699b9 236 _mutex.lock();
braichi13 0:77205fc699b9 237
braichi13 0:77205fc699b9 238 if (_tid != NULL) {
braichi13 0:77205fc699b9 239 uint32_t bottom = (uint32_t)_thread_def.tcb.stack;
braichi13 0:77205fc699b9 240 size = _thread_def.tcb.tsk_stack - bottom;
braichi13 0:77205fc699b9 241 }
braichi13 0:77205fc699b9 242
braichi13 0:77205fc699b9 243 _mutex.unlock();
braichi13 0:77205fc699b9 244 return size;
braichi13 0:77205fc699b9 245 #else
braichi13 0:77205fc699b9 246 uint32_t size = 0;
braichi13 0:77205fc699b9 247 _mutex.lock();
braichi13 0:77205fc699b9 248
braichi13 0:77205fc699b9 249 if (_tid != NULL) {
braichi13 0:77205fc699b9 250 P_TCB tcb = rt_tid2ptcb(_tid);
braichi13 0:77205fc699b9 251 uint32_t bottom = (uint32_t)tcb->stack;
braichi13 0:77205fc699b9 252 size = tcb->tsk_stack - bottom;
braichi13 0:77205fc699b9 253 }
braichi13 0:77205fc699b9 254
braichi13 0:77205fc699b9 255 _mutex.unlock();
braichi13 0:77205fc699b9 256 return size;
braichi13 0:77205fc699b9 257 #endif
braichi13 0:77205fc699b9 258 #else
braichi13 0:77205fc699b9 259 return 0;
braichi13 0:77205fc699b9 260 #endif
braichi13 0:77205fc699b9 261 }
braichi13 0:77205fc699b9 262
braichi13 0:77205fc699b9 263 uint32_t Thread::used_stack() {
braichi13 0:77205fc699b9 264 #ifndef __MBED_CMSIS_RTOS_CA9
braichi13 0:77205fc699b9 265 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
braichi13 0:77205fc699b9 266 uint32_t size = 0;
braichi13 0:77205fc699b9 267 _mutex.lock();
braichi13 0:77205fc699b9 268
braichi13 0:77205fc699b9 269 if (_tid != NULL) {
braichi13 0:77205fc699b9 270 uint32_t top = (uint32_t)_thread_def.tcb.stack + _thread_def.tcb.priv_stack;
braichi13 0:77205fc699b9 271 size = top - _thread_def.tcb.tsk_stack;
braichi13 0:77205fc699b9 272 }
braichi13 0:77205fc699b9 273
braichi13 0:77205fc699b9 274 _mutex.unlock();
braichi13 0:77205fc699b9 275 return size;
braichi13 0:77205fc699b9 276 #else
braichi13 0:77205fc699b9 277 uint32_t size = 0;
braichi13 0:77205fc699b9 278 _mutex.lock();
braichi13 0:77205fc699b9 279
braichi13 0:77205fc699b9 280 if (_tid != NULL) {
braichi13 0:77205fc699b9 281 P_TCB tcb = rt_tid2ptcb(_tid);
braichi13 0:77205fc699b9 282 uint32_t top = (uint32_t)tcb->stack + tcb->priv_stack;
braichi13 0:77205fc699b9 283 size = top - tcb->tsk_stack;
braichi13 0:77205fc699b9 284 }
braichi13 0:77205fc699b9 285
braichi13 0:77205fc699b9 286 _mutex.unlock();
braichi13 0:77205fc699b9 287 return size;
braichi13 0:77205fc699b9 288 #endif
braichi13 0:77205fc699b9 289 #else
braichi13 0:77205fc699b9 290 return 0;
braichi13 0:77205fc699b9 291 #endif
braichi13 0:77205fc699b9 292 }
braichi13 0:77205fc699b9 293
braichi13 0:77205fc699b9 294 uint32_t Thread::max_stack() {
braichi13 0:77205fc699b9 295 #ifndef __MBED_CMSIS_RTOS_CA9
braichi13 0:77205fc699b9 296 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
braichi13 0:77205fc699b9 297 uint32_t size = 0;
braichi13 0:77205fc699b9 298 _mutex.lock();
braichi13 0:77205fc699b9 299
braichi13 0:77205fc699b9 300 if (_tid != NULL) {
braichi13 0:77205fc699b9 301 uint32_t high_mark = 0;
braichi13 0:77205fc699b9 302 while (_thread_def.tcb.stack[high_mark] == 0xE25A2EA5)
braichi13 0:77205fc699b9 303 high_mark++;
braichi13 0:77205fc699b9 304 size = _thread_def.tcb.priv_stack - (high_mark * 4);
braichi13 0:77205fc699b9 305 }
braichi13 0:77205fc699b9 306
braichi13 0:77205fc699b9 307 _mutex.unlock();
braichi13 0:77205fc699b9 308 return size;
braichi13 0:77205fc699b9 309 #else
braichi13 0:77205fc699b9 310 uint32_t size = 0;
braichi13 0:77205fc699b9 311 _mutex.lock();
braichi13 0:77205fc699b9 312
braichi13 0:77205fc699b9 313 if (_tid != NULL) {
braichi13 0:77205fc699b9 314 P_TCB tcb = rt_tid2ptcb(_tid);
braichi13 0:77205fc699b9 315 uint32_t high_mark = 0;
braichi13 0:77205fc699b9 316 while (tcb->stack[high_mark] == 0xE25A2EA5)
braichi13 0:77205fc699b9 317 high_mark++;
braichi13 0:77205fc699b9 318 size = tcb->priv_stack - (high_mark * 4);
braichi13 0:77205fc699b9 319 }
braichi13 0:77205fc699b9 320
braichi13 0:77205fc699b9 321 _mutex.unlock();
braichi13 0:77205fc699b9 322 return size;
braichi13 0:77205fc699b9 323 #endif
braichi13 0:77205fc699b9 324 #else
braichi13 0:77205fc699b9 325 return 0;
braichi13 0:77205fc699b9 326 #endif
braichi13 0:77205fc699b9 327 }
braichi13 0:77205fc699b9 328
braichi13 0:77205fc699b9 329 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
braichi13 0:77205fc699b9 330 return osSignalWait(signals, millisec);
braichi13 0:77205fc699b9 331 }
braichi13 0:77205fc699b9 332
braichi13 0:77205fc699b9 333 osStatus Thread::wait(uint32_t millisec) {
braichi13 0:77205fc699b9 334 return osDelay(millisec);
braichi13 0:77205fc699b9 335 }
braichi13 0:77205fc699b9 336
braichi13 0:77205fc699b9 337 osStatus Thread::yield() {
braichi13 0:77205fc699b9 338 return osThreadYield();
braichi13 0:77205fc699b9 339 }
braichi13 0:77205fc699b9 340
braichi13 0:77205fc699b9 341 osThreadId Thread::gettid() {
braichi13 0:77205fc699b9 342 return osThreadGetId();
braichi13 0:77205fc699b9 343 }
braichi13 0:77205fc699b9 344
braichi13 0:77205fc699b9 345 void Thread::attach_idle_hook(void (*fptr)(void)) {
braichi13 0:77205fc699b9 346 rtos_attach_idle_hook(fptr);
braichi13 0:77205fc699b9 347 }
braichi13 0:77205fc699b9 348
braichi13 0:77205fc699b9 349 void Thread::attach_terminate_hook(void (*fptr)(osThreadId id)) {
braichi13 0:77205fc699b9 350 terminate_hook = fptr;
braichi13 0:77205fc699b9 351 }
braichi13 0:77205fc699b9 352
braichi13 0:77205fc699b9 353 Thread::~Thread() {
braichi13 0:77205fc699b9 354 // terminate is thread safe
braichi13 0:77205fc699b9 355 terminate();
braichi13 0:77205fc699b9 356 #ifdef __MBED_CMSIS_RTOS_CM
braichi13 0:77205fc699b9 357 if (_dynamic_stack) {
braichi13 0:77205fc699b9 358 delete[] (_thread_def.stack_pointer);
braichi13 0:77205fc699b9 359 _thread_def.stack_pointer = (uint32_t*)NULL;
braichi13 0:77205fc699b9 360 }
braichi13 0:77205fc699b9 361 #endif
braichi13 0:77205fc699b9 362 }
braichi13 0:77205fc699b9 363
braichi13 0:77205fc699b9 364 void Thread::_thunk(const void * thread_ptr)
braichi13 0:77205fc699b9 365 {
braichi13 0:77205fc699b9 366 Thread *t = (Thread*)thread_ptr;
braichi13 0:77205fc699b9 367 t->_task();
braichi13 0:77205fc699b9 368 t->_mutex.lock();
braichi13 0:77205fc699b9 369 t->_tid = (osThreadId)NULL;
braichi13 0:77205fc699b9 370 t->_join_sem.release();
braichi13 0:77205fc699b9 371 // rtos will release the mutex automatically
braichi13 0:77205fc699b9 372 }
braichi13 0:77205fc699b9 373
braichi13 0:77205fc699b9 374 }