Frazer Legge / mbed-rtos

Official mbed Real Time Operating System based on the RTX implementation of the CMSIS-RTOS API open standard.

Dependents:   Assignment_3__Embedded_Software

Fork of mbed-rtos by mbed official

rtos/Thread.cpp@119:19af2d39a542, 2016-08-10 (annotated)

Committer:
Kojto
Date:
Wed Aug 10 16:09:20 2016 +0100
Revision:
119:19af2d39a542
Parent:
118:6635230e06ba
Child:
123:58563e6cba1e
RTOS rev119



Compatible with the mbed library v123



Changes:

- new targets: NRF52 and NUC472

- mbed singleton mutex addition

- main thread with timers fix

- Thread - mutex addition for synchronization

- Semaphore - default count argument set to 0

- RTOSTimer - add new ctor with Callback

Who changed what in which revision?

UserRevisionLine numberNew 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 119:19af2d39a542 66 _mutex.lock();
Kojto 119:19af2d39a542 67
Kojto 118:6635230e06ba 68 if (_tid != 0) {
Kojto 119:19af2d39a542 69 _mutex.unlock();
Kojto 118:6635230e06ba 70 return osErrorParameter;
Kojto 118:6635230e06ba 71 }
Kojto 118:6635230e06ba 72
Kojto 118:6635230e06ba 73 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
Kojto 119:19af2d39a542 74 _thread_def.pthread = Thread::_thunk;
Kojto 118:6635230e06ba 75 if (_thread_def.stack_pointer == NULL) {
Kojto 118:6635230e06ba 76 _thread_def.stack_pointer = new uint32_t[_thread_def.stacksize/sizeof(uint32_t)];
Kojto 119:19af2d39a542 77 if (_thread_def.stack_pointer == NULL) {
Kojto 119:19af2d39a542 78 _mutex.unlock();
Kojto 118:6635230e06ba 79 return osErrorNoMemory;
Kojto 119:19af2d39a542 80 }
emilmont 8:88a1a9c26ae3 81 }
Kojto 118:6635230e06ba 82
mbed_official 84:143955ffb790 83 //Fill the stack with a magic word for maximum usage checking
Kojto 118:6635230e06ba 84 for (uint32_t i = 0; i < (_thread_def.stacksize / sizeof(uint32_t)); i++) {
mbed_official 84:143955ffb790 85 _thread_def.stack_pointer[i] = 0xE25A2EA5;
mbed_official 84:143955ffb790 86 }
emilmont 8:88a1a9c26ae3 87 #endif
Kojto 118:6635230e06ba 88 _task = task;
Kojto 119:19af2d39a542 89 _tid = osThreadCreate(&_thread_def, this);
Kojto 118:6635230e06ba 90 if (_tid == NULL) {
Kojto 118:6635230e06ba 91 if (_dynamic_stack) delete[] (_thread_def.stack_pointer);
Kojto 119:19af2d39a542 92 _mutex.unlock();
Kojto 118:6635230e06ba 93 return osErrorResource;
Kojto 118:6635230e06ba 94 }
Kojto 119:19af2d39a542 95
Kojto 119:19af2d39a542 96 _mutex.unlock();
Kojto 118:6635230e06ba 97 return osOK;
emilmont 8:88a1a9c26ae3 98 }
emilmont 8:88a1a9c26ae3 99
emilmont 8:88a1a9c26ae3 100 osStatus Thread::terminate() {
Kojto 119:19af2d39a542 101 osStatus ret;
Kojto 119:19af2d39a542 102 _mutex.lock();
Kojto 119:19af2d39a542 103
Kojto 119:19af2d39a542 104 ret = osThreadTerminate(_tid);
Kojto 119:19af2d39a542 105 _tid = (osThreadId)NULL;
Kojto 119:19af2d39a542 106
Kojto 119:19af2d39a542 107 // Wake threads joining the terminated thread
Kojto 119:19af2d39a542 108 _join_sem.release();
Kojto 119:19af2d39a542 109
Kojto 119:19af2d39a542 110 _mutex.unlock();
Kojto 119:19af2d39a542 111 return ret;
emilmont 8:88a1a9c26ae3 112 }
emilmont 8:88a1a9c26ae3 113
Kojto 118:6635230e06ba 114 osStatus Thread::join() {
Kojto 119:19af2d39a542 115 int32_t ret = _join_sem.wait();
Kojto 119:19af2d39a542 116 if (ret < 0) {
Kojto 119:19af2d39a542 117 return osErrorOS;
Kojto 118:6635230e06ba 118 }
Kojto 119:19af2d39a542 119 // Release sem so any other threads joining this thread wake up
Kojto 119:19af2d39a542 120 _join_sem.release();
Kojto 119:19af2d39a542 121 return osOK;
Kojto 118:6635230e06ba 122 }
Kojto 118:6635230e06ba 123
emilmont 8:88a1a9c26ae3 124 osStatus Thread::set_priority(osPriority priority) {
Kojto 119:19af2d39a542 125 osStatus ret;
Kojto 119:19af2d39a542 126 _mutex.lock();
Kojto 119:19af2d39a542 127
Kojto 119:19af2d39a542 128 ret = osThreadSetPriority(_tid, priority);
Kojto 119:19af2d39a542 129
Kojto 119:19af2d39a542 130 _mutex.unlock();
Kojto 119:19af2d39a542 131 return ret;
emilmont 8:88a1a9c26ae3 132 }
emilmont 8:88a1a9c26ae3 133
emilmont 8:88a1a9c26ae3 134 osPriority Thread::get_priority() {
Kojto 119:19af2d39a542 135 osPriority ret;
Kojto 119:19af2d39a542 136 _mutex.lock();
Kojto 119:19af2d39a542 137
Kojto 119:19af2d39a542 138 ret = osThreadGetPriority(_tid);
Kojto 119:19af2d39a542 139
Kojto 119:19af2d39a542 140 _mutex.unlock();
Kojto 119:19af2d39a542 141 return ret;
emilmont 8:88a1a9c26ae3 142 }
emilmont 8:88a1a9c26ae3 143
emilmont 8:88a1a9c26ae3 144 int32_t Thread::signal_set(int32_t signals) {
Kojto 119:19af2d39a542 145 // osSignalSet is thread safe as long as the underlying
Kojto 119:19af2d39a542 146 // thread does not get terminated or return from main
emilmont 8:88a1a9c26ae3 147 return osSignalSet(_tid, signals);
emilmont 8:88a1a9c26ae3 148 }
emilmont 8:88a1a9c26ae3 149
mbed_official 76:85a52b7ef44b 150 int32_t Thread::signal_clr(int32_t signals) {
Kojto 119:19af2d39a542 151 // osSignalClear is thread safe as long as the underlying
Kojto 119:19af2d39a542 152 // thread does not get terminated or return from main
mbed_official 76:85a52b7ef44b 153 return osSignalClear(_tid, signals);
mbed_official 76:85a52b7ef44b 154 }
mbed_official 76:85a52b7ef44b 155
emilmont 8:88a1a9c26ae3 156 Thread::State Thread::get_state() {
mbed_official 112:53ace74b190c 157 #if !defined(__MBED_CMSIS_RTOS_CA9) && !defined(__MBED_CMSIS_RTOS_CM)
mbed_official 112:53ace74b190c 158 #ifdef CMSIS_OS_RTX
Kojto 119:19af2d39a542 159 State status = Deleted;
Kojto 119:19af2d39a542 160 _mutex.lock();
Kojto 119:19af2d39a542 161
Kojto 119:19af2d39a542 162 if (_tid != NULL) {
Kojto 119:19af2d39a542 163 status = (State)_thread_def.tcb.state;
Kojto 119:19af2d39a542 164 }
Kojto 119:19af2d39a542 165
Kojto 119:19af2d39a542 166 _mutex.unlock();
Kojto 119:19af2d39a542 167 return status;
mbed_official 112:53ace74b190c 168 #endif
mbed_official 48:e9a2c7cb57a4 169 #else
Kojto 119:19af2d39a542 170 State status = Deleted;
Kojto 119:19af2d39a542 171 _mutex.lock();
Kojto 119:19af2d39a542 172
Kojto 119:19af2d39a542 173 if (_tid != NULL) {
Kojto 119:19af2d39a542 174 status = (State)osThreadGetState(_tid);
Kojto 119:19af2d39a542 175 }
Kojto 119:19af2d39a542 176
Kojto 119:19af2d39a542 177 _mutex.unlock();
Kojto 119:19af2d39a542 178 return status;
mbed_official 48:e9a2c7cb57a4 179 #endif
emilmont 8:88a1a9c26ae3 180 }
emilmont 8:88a1a9c26ae3 181
mbed_official 84:143955ffb790 182 uint32_t Thread::stack_size() {
mbed_official 84:143955ffb790 183 #ifndef __MBED_CMSIS_RTOS_CA9
mbed_official 112:53ace74b190c 184 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
Kojto 119:19af2d39a542 185 uint32_t size = 0;
Kojto 119:19af2d39a542 186 _mutex.lock();
Kojto 119:19af2d39a542 187
Kojto 119:19af2d39a542 188 if (_tid != NULL) {
Kojto 119:19af2d39a542 189 size = _thread_def.tcb.priv_stack;
Kojto 119:19af2d39a542 190 }
Kojto 119:19af2d39a542 191
Kojto 119:19af2d39a542 192 _mutex.unlock();
Kojto 119:19af2d39a542 193 return size;
mbed_official 84:143955ffb790 194 #else
Kojto 119:19af2d39a542 195 uint32_t size = 0;
Kojto 119:19af2d39a542 196 _mutex.lock();
Kojto 119:19af2d39a542 197
Kojto 119:19af2d39a542 198 if (_tid != NULL) {
Kojto 119:19af2d39a542 199 P_TCB tcb = rt_tid2ptcb(_tid);
Kojto 119:19af2d39a542 200 size = tcb->priv_stack;
Kojto 119:19af2d39a542 201 }
Kojto 119:19af2d39a542 202
Kojto 119:19af2d39a542 203 _mutex.unlock();
Kojto 119:19af2d39a542 204 return size;
mbed_official 112:53ace74b190c 205 #endif
mbed_official 112:53ace74b190c 206 #else
mbed_official 84:143955ffb790 207 return 0;
mbed_official 84:143955ffb790 208 #endif
mbed_official 84:143955ffb790 209 }
mbed_official 84:143955ffb790 210
mbed_official 84:143955ffb790 211 uint32_t Thread::free_stack() {
mbed_official 84:143955ffb790 212 #ifndef __MBED_CMSIS_RTOS_CA9
mbed_official 112:53ace74b190c 213 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
Kojto 119:19af2d39a542 214 uint32_t size = 0;
Kojto 119:19af2d39a542 215 _mutex.lock();
Kojto 119:19af2d39a542 216
Kojto 119:19af2d39a542 217 if (_tid != NULL) {
Kojto 119:19af2d39a542 218 uint32_t bottom = (uint32_t)_thread_def.tcb.stack;
Kojto 119:19af2d39a542 219 size = _thread_def.tcb.tsk_stack - bottom;
Kojto 119:19af2d39a542 220 }
Kojto 119:19af2d39a542 221
Kojto 119:19af2d39a542 222 _mutex.unlock();
Kojto 119:19af2d39a542 223 return size;
mbed_official 84:143955ffb790 224 #else
Kojto 119:19af2d39a542 225 uint32_t size = 0;
Kojto 119:19af2d39a542 226 _mutex.lock();
Kojto 119:19af2d39a542 227
Kojto 119:19af2d39a542 228 if (_tid != NULL) {
Kojto 119:19af2d39a542 229 P_TCB tcb = rt_tid2ptcb(_tid);
Kojto 119:19af2d39a542 230 uint32_t bottom = (uint32_t)tcb->stack;
Kojto 119:19af2d39a542 231 size = tcb->tsk_stack - bottom;
Kojto 119:19af2d39a542 232 }
Kojto 119:19af2d39a542 233
Kojto 119:19af2d39a542 234 _mutex.unlock();
Kojto 119:19af2d39a542 235 return size;
mbed_official 112:53ace74b190c 236 #endif
mbed_official 112:53ace74b190c 237 #else
mbed_official 84:143955ffb790 238 return 0;
mbed_official 84:143955ffb790 239 #endif
mbed_official 84:143955ffb790 240 }
mbed_official 84:143955ffb790 241
mbed_official 84:143955ffb790 242 uint32_t Thread::used_stack() {
mbed_official 84:143955ffb790 243 #ifndef __MBED_CMSIS_RTOS_CA9
mbed_official 112:53ace74b190c 244 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
Kojto 119:19af2d39a542 245 uint32_t size = 0;
Kojto 119:19af2d39a542 246 _mutex.lock();
Kojto 119:19af2d39a542 247
Kojto 119:19af2d39a542 248 if (_tid != NULL) {
Kojto 119:19af2d39a542 249 uint32_t top = (uint32_t)_thread_def.tcb.stack + _thread_def.tcb.priv_stack;
Kojto 119:19af2d39a542 250 size = top - _thread_def.tcb.tsk_stack;
Kojto 119:19af2d39a542 251 }
Kojto 119:19af2d39a542 252
Kojto 119:19af2d39a542 253 _mutex.unlock();
Kojto 119:19af2d39a542 254 return size;
mbed_official 84:143955ffb790 255 #else
Kojto 119:19af2d39a542 256 uint32_t size = 0;
Kojto 119:19af2d39a542 257 _mutex.lock();
Kojto 119:19af2d39a542 258
Kojto 119:19af2d39a542 259 if (_tid != NULL) {
Kojto 119:19af2d39a542 260 P_TCB tcb = rt_tid2ptcb(_tid);
Kojto 119:19af2d39a542 261 uint32_t top = (uint32_t)tcb->stack + tcb->priv_stack;
Kojto 119:19af2d39a542 262 size = top - tcb->tsk_stack;
Kojto 119:19af2d39a542 263 }
Kojto 119:19af2d39a542 264
Kojto 119:19af2d39a542 265 _mutex.unlock();
Kojto 119:19af2d39a542 266 return size;
mbed_official 112:53ace74b190c 267 #endif
mbed_official 112:53ace74b190c 268 #else
mbed_official 84:143955ffb790 269 return 0;
mbed_official 84:143955ffb790 270 #endif
mbed_official 84:143955ffb790 271 }
mbed_official 84:143955ffb790 272
mbed_official 84:143955ffb790 273 uint32_t Thread::max_stack() {
mbed_official 84:143955ffb790 274 #ifndef __MBED_CMSIS_RTOS_CA9
mbed_official 112:53ace74b190c 275 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
Kojto 119:19af2d39a542 276 uint32_t size = 0;
Kojto 119:19af2d39a542 277 _mutex.lock();
Kojto 119:19af2d39a542 278
Kojto 119:19af2d39a542 279 if (_tid != NULL) {
Kojto 119:19af2d39a542 280 uint32_t high_mark = 0;
Kojto 119:19af2d39a542 281 while (_thread_def.tcb.stack[high_mark] == 0xE25A2EA5)
Kojto 119:19af2d39a542 282 high_mark++;
Kojto 119:19af2d39a542 283 size = _thread_def.tcb.priv_stack - (high_mark * 4);
Kojto 119:19af2d39a542 284 }
Kojto 119:19af2d39a542 285
Kojto 119:19af2d39a542 286 _mutex.unlock();
Kojto 119:19af2d39a542 287 return size;
mbed_official 84:143955ffb790 288 #else
Kojto 119:19af2d39a542 289 uint32_t size = 0;
Kojto 119:19af2d39a542 290 _mutex.lock();
Kojto 119:19af2d39a542 291
Kojto 119:19af2d39a542 292 if (_tid != NULL) {
Kojto 119:19af2d39a542 293 P_TCB tcb = rt_tid2ptcb(_tid);
Kojto 119:19af2d39a542 294 uint32_t high_mark = 0;
Kojto 119:19af2d39a542 295 while (tcb->stack[high_mark] == 0xE25A2EA5)
Kojto 119:19af2d39a542 296 high_mark++;
Kojto 119:19af2d39a542 297 size = tcb->priv_stack - (high_mark * 4);
Kojto 119:19af2d39a542 298 }
Kojto 119:19af2d39a542 299
Kojto 119:19af2d39a542 300 _mutex.unlock();
Kojto 119:19af2d39a542 301 return size;
mbed_official 112:53ace74b190c 302 #endif
mbed_official 112:53ace74b190c 303 #else
mbed_official 84:143955ffb790 304 return 0;
mbed_official 84:143955ffb790 305 #endif
mbed_official 84:143955ffb790 306 }
mbed_official 84:143955ffb790 307
emilmont 8:88a1a9c26ae3 308 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
emilmont 8:88a1a9c26ae3 309 return osSignalWait(signals, millisec);
emilmont 8:88a1a9c26ae3 310 }
emilmont 8:88a1a9c26ae3 311
emilmont 8:88a1a9c26ae3 312 osStatus Thread::wait(uint32_t millisec) {
emilmont 8:88a1a9c26ae3 313 return osDelay(millisec);
emilmont 8:88a1a9c26ae3 314 }
emilmont 8:88a1a9c26ae3 315
emilmont 8:88a1a9c26ae3 316 osStatus Thread::yield() {
emilmont 8:88a1a9c26ae3 317 return osThreadYield();
emilmont 8:88a1a9c26ae3 318 }
emilmont 8:88a1a9c26ae3 319
emilmont 8:88a1a9c26ae3 320 osThreadId Thread::gettid() {
emilmont 8:88a1a9c26ae3 321 return osThreadGetId();
emilmont 8:88a1a9c26ae3 322 }
emilmont 8:88a1a9c26ae3 323
mbed_official 107:bdd541595fc5 324 void Thread::attach_idle_hook(void (*fptr)(void)) {
mbed_official 107:bdd541595fc5 325 rtos_attach_idle_hook(fptr);
mbed_official 107:bdd541595fc5 326 }
mbed_official 107:bdd541595fc5 327
emilmont 8:88a1a9c26ae3 328 Thread::~Thread() {
Kojto 119:19af2d39a542 329 // terminate is thread safe
emilmont 8:88a1a9c26ae3 330 terminate();
mbed_official 112:53ace74b190c 331 #ifdef __MBED_CMSIS_RTOS_CM
emilmont 8:88a1a9c26ae3 332 if (_dynamic_stack) {
emilmont 8:88a1a9c26ae3 333 delete[] (_thread_def.stack_pointer);
emilmont 8:88a1a9c26ae3 334 }
mbed_official 112:53ace74b190c 335 #endif
emilmont 8:88a1a9c26ae3 336 }
emilmont 8:88a1a9c26ae3 337
Kojto 119:19af2d39a542 338 void Thread::_thunk(const void * thread_ptr)
Kojto 119:19af2d39a542 339 {
Kojto 119:19af2d39a542 340 Thread *t = (Thread*)thread_ptr;
Kojto 119:19af2d39a542 341 t->_task();
Kojto 119:19af2d39a542 342 t->_mutex.lock();
Kojto 119:19af2d39a542 343 t->_tid = (osThreadId)NULL;
Kojto 119:19af2d39a542 344 t->_join_sem.release();
Kojto 119:19af2d39a542 345 // rtos will release the mutex automatically
emilmont 8:88a1a9c26ae3 346 }
Kojto 119:19af2d39a542 347
Kojto 119:19af2d39a542 348 }