mbed official / mbed-rtos

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

Dependents:   denki-yohou_b TestY201 Network-RTOS NTPClient_HelloWorld ... more

Deprecated

This is the mbed 2 rtos library. mbed OS 5 integrates the mbed library with mbed-rtos. With this, we have provided thread safety for all mbed APIs. If you'd like to learn about using mbed OS 5, please see the docs.

rtos/Thread.cpp@125:5713cbbdb706, 2017-07-04 (annotated)

Committer:
Kojto
Date:
Tue Jul 04 13:32:20 2017 +0100
Revision:
125:5713cbbdb706
Parent:
123:58563e6cba1e 
replace mbed_rtx by mbed_rtx4



Not causing a conflict with mbed_rtx that is for newer rtos

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 */
c1728p9 123:58563e6cba1e 22 #include "rtos/Thread.h"
emilmont 8:88a1a9c26ae3 23
Kojto 118:6635230e06ba 24 #include "mbed.h"
c1728p9 123:58563e6cba1e 25 #include "rtos/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
c1728p9 123:58563e6cba1e 33
c1728p9 123:58563e6cba1e 34 static void (*terminate_hook)(osThreadId id) = 0;
c1728p9 123:58563e6cba1e 35 extern "C" void thread_terminate_hook(osThreadId id)
c1728p9 123:58563e6cba1e 36 {
c1728p9 123:58563e6cba1e 37 if (terminate_hook != (void (*)(osThreadId))NULL) {
c1728p9 123:58563e6cba1e 38 terminate_hook(id);
c1728p9 123:58563e6cba1e 39 }
c1728p9 123:58563e6cba1e 40 }
c1728p9 123:58563e6cba1e 41
emilmont 8:88a1a9c26ae3 42 namespace rtos {
emilmont 8:88a1a9c26ae3 43
Kojto 118:6635230e06ba 44 void Thread::constructor(osPriority priority,
Kojto 118:6635230e06ba 45 uint32_t stack_size, unsigned char *stack_pointer) {
Kojto 118:6635230e06ba 46 _tid = 0;
Kojto 118:6635230e06ba 47 _dynamic_stack = (stack_pointer == NULL);
Kojto 118:6635230e06ba 48
mbed_official 115:11950e007d8a 49 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
emilmont 8:88a1a9c26ae3 50 _thread_def.tpriority = priority;
emilmont 8:88a1a9c26ae3 51 _thread_def.stacksize = stack_size;
Kojto 118:6635230e06ba 52 _thread_def.stack_pointer = (uint32_t*)stack_pointer;
Kojto 118:6635230e06ba 53 #endif
Kojto 118:6635230e06ba 54 }
Kojto 118:6635230e06ba 55
Kojto 118:6635230e06ba 56 void Thread::constructor(Callback<void()> task,
Kojto 118:6635230e06ba 57 osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
Kojto 118:6635230e06ba 58 constructor(priority, stack_size, stack_pointer);
Kojto 118:6635230e06ba 59
Kojto 118:6635230e06ba 60 switch (start(task)) {
Kojto 118:6635230e06ba 61 case osErrorResource:
Kojto 118:6635230e06ba 62 error("OS ran out of threads!\n");
Kojto 118:6635230e06ba 63 break;
Kojto 118:6635230e06ba 64 case osErrorParameter:
Kojto 118:6635230e06ba 65 error("Thread already running!\n");
Kojto 118:6635230e06ba 66 break;
Kojto 118:6635230e06ba 67 case osErrorNoMemory:
Kojto 118:6635230e06ba 68 error("Error allocating the stack memory\n");
Kojto 118:6635230e06ba 69 default:
Kojto 118:6635230e06ba 70 break;
Kojto 118:6635230e06ba 71 }
Kojto 118:6635230e06ba 72 }
Kojto 118:6635230e06ba 73
Kojto 118:6635230e06ba 74 osStatus Thread::start(Callback<void()> task) {
Kojto 119:19af2d39a542 75 _mutex.lock();
Kojto 119:19af2d39a542 76
Kojto 118:6635230e06ba 77 if (_tid != 0) {
Kojto 119:19af2d39a542 78 _mutex.unlock();
Kojto 118:6635230e06ba 79 return osErrorParameter;
Kojto 118:6635230e06ba 80 }
Kojto 118:6635230e06ba 81
Kojto 118:6635230e06ba 82 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
Kojto 119:19af2d39a542 83 _thread_def.pthread = Thread::_thunk;
Kojto 118:6635230e06ba 84 if (_thread_def.stack_pointer == NULL) {
Kojto 118:6635230e06ba 85 _thread_def.stack_pointer = new uint32_t[_thread_def.stacksize/sizeof(uint32_t)];
c1728p9 123:58563e6cba1e 86 MBED_ASSERT(_thread_def.stack_pointer != NULL);
emilmont 8:88a1a9c26ae3 87 }
Kojto 118:6635230e06ba 88
mbed_official 84:143955ffb790 89 //Fill the stack with a magic word for maximum usage checking
Kojto 118:6635230e06ba 90 for (uint32_t i = 0; i < (_thread_def.stacksize / sizeof(uint32_t)); i++) {
mbed_official 84:143955ffb790 91 _thread_def.stack_pointer[i] = 0xE25A2EA5;
mbed_official 84:143955ffb790 92 }
emilmont 8:88a1a9c26ae3 93 #endif
Kojto 118:6635230e06ba 94 _task = task;
Kojto 119:19af2d39a542 95 _tid = osThreadCreate(&_thread_def, this);
Kojto 118:6635230e06ba 96 if (_tid == NULL) {
c1728p9 123:58563e6cba1e 97 if (_dynamic_stack) {
c1728p9 123:58563e6cba1e 98 delete[] (_thread_def.stack_pointer);
c1728p9 123:58563e6cba1e 99 _thread_def.stack_pointer = (uint32_t*)NULL;
c1728p9 123:58563e6cba1e 100 }
Kojto 119:19af2d39a542 101 _mutex.unlock();
c1728p9 123:58563e6cba1e 102 _join_sem.release();
Kojto 118:6635230e06ba 103 return osErrorResource;
Kojto 118:6635230e06ba 104 }
Kojto 119:19af2d39a542 105
Kojto 119:19af2d39a542 106 _mutex.unlock();
Kojto 118:6635230e06ba 107 return osOK;
emilmont 8:88a1a9c26ae3 108 }
emilmont 8:88a1a9c26ae3 109
emilmont 8:88a1a9c26ae3 110 osStatus Thread::terminate() {
Kojto 119:19af2d39a542 111 osStatus ret;
Kojto 119:19af2d39a542 112 _mutex.lock();
Kojto 119:19af2d39a542 113
c1728p9 123:58563e6cba1e 114 // Set the Thread's tid to NULL and
c1728p9 123:58563e6cba1e 115 // release the semaphore before terminating
c1728p9 123:58563e6cba1e 116 // since this thread could be terminating itself
c1728p9 123:58563e6cba1e 117 osThreadId local_id = _tid;
c1728p9 123:58563e6cba1e 118 _join_sem.release();
Kojto 119:19af2d39a542 119 _tid = (osThreadId)NULL;
Kojto 119:19af2d39a542 120
c1728p9 123:58563e6cba1e 121 ret = osThreadTerminate(local_id);
Kojto 119:19af2d39a542 122
Kojto 119:19af2d39a542 123 _mutex.unlock();
Kojto 119:19af2d39a542 124 return ret;
emilmont 8:88a1a9c26ae3 125 }
emilmont 8:88a1a9c26ae3 126
Kojto 118:6635230e06ba 127 osStatus Thread::join() {
Kojto 119:19af2d39a542 128 int32_t ret = _join_sem.wait();
Kojto 119:19af2d39a542 129 if (ret < 0) {
Kojto 119:19af2d39a542 130 return osErrorOS;
Kojto 118:6635230e06ba 131 }
c1728p9 123:58563e6cba1e 132
c1728p9 123:58563e6cba1e 133 // The semaphore has been released so this thread is being
c1728p9 123:58563e6cba1e 134 // terminated or has been terminated. Once the mutex has
c1728p9 123:58563e6cba1e 135 // been locked it is ensured that the thread is deleted.
c1728p9 123:58563e6cba1e 136 _mutex.lock();
c1728p9 123:58563e6cba1e 137 MBED_ASSERT(NULL == _tid);
c1728p9 123:58563e6cba1e 138 _mutex.unlock();
c1728p9 123:58563e6cba1e 139
Kojto 119:19af2d39a542 140 // Release sem so any other threads joining this thread wake up
Kojto 119:19af2d39a542 141 _join_sem.release();
Kojto 119:19af2d39a542 142 return osOK;
Kojto 118:6635230e06ba 143 }
Kojto 118:6635230e06ba 144
emilmont 8:88a1a9c26ae3 145 osStatus Thread::set_priority(osPriority priority) {
Kojto 119:19af2d39a542 146 osStatus ret;
Kojto 119:19af2d39a542 147 _mutex.lock();
Kojto 119:19af2d39a542 148
Kojto 119:19af2d39a542 149 ret = osThreadSetPriority(_tid, priority);
Kojto 119:19af2d39a542 150
Kojto 119:19af2d39a542 151 _mutex.unlock();
Kojto 119:19af2d39a542 152 return ret;
emilmont 8:88a1a9c26ae3 153 }
emilmont 8:88a1a9c26ae3 154
emilmont 8:88a1a9c26ae3 155 osPriority Thread::get_priority() {
Kojto 119:19af2d39a542 156 osPriority ret;
Kojto 119:19af2d39a542 157 _mutex.lock();
Kojto 119:19af2d39a542 158
Kojto 119:19af2d39a542 159 ret = osThreadGetPriority(_tid);
Kojto 119:19af2d39a542 160
Kojto 119:19af2d39a542 161 _mutex.unlock();
Kojto 119:19af2d39a542 162 return ret;
emilmont 8:88a1a9c26ae3 163 }
emilmont 8:88a1a9c26ae3 164
emilmont 8:88a1a9c26ae3 165 int32_t Thread::signal_set(int32_t signals) {
Kojto 119:19af2d39a542 166 // osSignalSet is thread safe as long as the underlying
Kojto 119:19af2d39a542 167 // thread does not get terminated or return from main
emilmont 8:88a1a9c26ae3 168 return osSignalSet(_tid, signals);
emilmont 8:88a1a9c26ae3 169 }
emilmont 8:88a1a9c26ae3 170
mbed_official 76:85a52b7ef44b 171 int32_t Thread::signal_clr(int32_t signals) {
Kojto 119:19af2d39a542 172 // osSignalClear is thread safe as long as the underlying
Kojto 119:19af2d39a542 173 // thread does not get terminated or return from main
mbed_official 76:85a52b7ef44b 174 return osSignalClear(_tid, signals);
mbed_official 76:85a52b7ef44b 175 }
mbed_official 76:85a52b7ef44b 176
emilmont 8:88a1a9c26ae3 177 Thread::State Thread::get_state() {
mbed_official 112:53ace74b190c 178 #if !defined(__MBED_CMSIS_RTOS_CA9) && !defined(__MBED_CMSIS_RTOS_CM)
mbed_official 112:53ace74b190c 179 #ifdef CMSIS_OS_RTX
Kojto 119:19af2d39a542 180 State status = Deleted;
Kojto 119:19af2d39a542 181 _mutex.lock();
Kojto 119:19af2d39a542 182
Kojto 119:19af2d39a542 183 if (_tid != NULL) {
Kojto 119:19af2d39a542 184 status = (State)_thread_def.tcb.state;
Kojto 119:19af2d39a542 185 }
Kojto 119:19af2d39a542 186
Kojto 119:19af2d39a542 187 _mutex.unlock();
Kojto 119:19af2d39a542 188 return status;
mbed_official 112:53ace74b190c 189 #endif
mbed_official 48:e9a2c7cb57a4 190 #else
Kojto 119:19af2d39a542 191 State status = Deleted;
Kojto 119:19af2d39a542 192 _mutex.lock();
Kojto 119:19af2d39a542 193
Kojto 119:19af2d39a542 194 if (_tid != NULL) {
Kojto 119:19af2d39a542 195 status = (State)osThreadGetState(_tid);
Kojto 119:19af2d39a542 196 }
Kojto 119:19af2d39a542 197
Kojto 119:19af2d39a542 198 _mutex.unlock();
Kojto 119:19af2d39a542 199 return status;
mbed_official 48:e9a2c7cb57a4 200 #endif
emilmont 8:88a1a9c26ae3 201 }
emilmont 8:88a1a9c26ae3 202
mbed_official 84:143955ffb790 203 uint32_t Thread::stack_size() {
mbed_official 84:143955ffb790 204 #ifndef __MBED_CMSIS_RTOS_CA9
mbed_official 112:53ace74b190c 205 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
Kojto 119:19af2d39a542 206 uint32_t size = 0;
Kojto 119:19af2d39a542 207 _mutex.lock();
Kojto 119:19af2d39a542 208
Kojto 119:19af2d39a542 209 if (_tid != NULL) {
Kojto 119:19af2d39a542 210 size = _thread_def.tcb.priv_stack;
Kojto 119:19af2d39a542 211 }
Kojto 119:19af2d39a542 212
Kojto 119:19af2d39a542 213 _mutex.unlock();
Kojto 119:19af2d39a542 214 return size;
mbed_official 84:143955ffb790 215 #else
Kojto 119:19af2d39a542 216 uint32_t size = 0;
Kojto 119:19af2d39a542 217 _mutex.lock();
Kojto 119:19af2d39a542 218
Kojto 119:19af2d39a542 219 if (_tid != NULL) {
Kojto 119:19af2d39a542 220 P_TCB tcb = rt_tid2ptcb(_tid);
Kojto 119:19af2d39a542 221 size = tcb->priv_stack;
Kojto 119:19af2d39a542 222 }
Kojto 119:19af2d39a542 223
Kojto 119:19af2d39a542 224 _mutex.unlock();
Kojto 119:19af2d39a542 225 return size;
mbed_official 112:53ace74b190c 226 #endif
mbed_official 112:53ace74b190c 227 #else
mbed_official 84:143955ffb790 228 return 0;
mbed_official 84:143955ffb790 229 #endif
mbed_official 84:143955ffb790 230 }
mbed_official 84:143955ffb790 231
mbed_official 84:143955ffb790 232 uint32_t Thread::free_stack() {
mbed_official 84:143955ffb790 233 #ifndef __MBED_CMSIS_RTOS_CA9
mbed_official 112:53ace74b190c 234 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
Kojto 119:19af2d39a542 235 uint32_t size = 0;
Kojto 119:19af2d39a542 236 _mutex.lock();
Kojto 119:19af2d39a542 237
Kojto 119:19af2d39a542 238 if (_tid != NULL) {
Kojto 119:19af2d39a542 239 uint32_t bottom = (uint32_t)_thread_def.tcb.stack;
Kojto 119:19af2d39a542 240 size = _thread_def.tcb.tsk_stack - bottom;
Kojto 119:19af2d39a542 241 }
Kojto 119:19af2d39a542 242
Kojto 119:19af2d39a542 243 _mutex.unlock();
Kojto 119:19af2d39a542 244 return size;
mbed_official 84:143955ffb790 245 #else
Kojto 119:19af2d39a542 246 uint32_t size = 0;
Kojto 119:19af2d39a542 247 _mutex.lock();
Kojto 119:19af2d39a542 248
Kojto 119:19af2d39a542 249 if (_tid != NULL) {
Kojto 119:19af2d39a542 250 P_TCB tcb = rt_tid2ptcb(_tid);
Kojto 119:19af2d39a542 251 uint32_t bottom = (uint32_t)tcb->stack;
Kojto 119:19af2d39a542 252 size = tcb->tsk_stack - bottom;
Kojto 119:19af2d39a542 253 }
Kojto 119:19af2d39a542 254
Kojto 119:19af2d39a542 255 _mutex.unlock();
Kojto 119:19af2d39a542 256 return size;
mbed_official 112:53ace74b190c 257 #endif
mbed_official 112:53ace74b190c 258 #else
mbed_official 84:143955ffb790 259 return 0;
mbed_official 84:143955ffb790 260 #endif
mbed_official 84:143955ffb790 261 }
mbed_official 84:143955ffb790 262
mbed_official 84:143955ffb790 263 uint32_t Thread::used_stack() {
mbed_official 84:143955ffb790 264 #ifndef __MBED_CMSIS_RTOS_CA9
mbed_official 112:53ace74b190c 265 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
Kojto 119:19af2d39a542 266 uint32_t size = 0;
Kojto 119:19af2d39a542 267 _mutex.lock();
Kojto 119:19af2d39a542 268
Kojto 119:19af2d39a542 269 if (_tid != NULL) {
Kojto 119:19af2d39a542 270 uint32_t top = (uint32_t)_thread_def.tcb.stack + _thread_def.tcb.priv_stack;
Kojto 119:19af2d39a542 271 size = top - _thread_def.tcb.tsk_stack;
Kojto 119:19af2d39a542 272 }
Kojto 119:19af2d39a542 273
Kojto 119:19af2d39a542 274 _mutex.unlock();
Kojto 119:19af2d39a542 275 return size;
mbed_official 84:143955ffb790 276 #else
Kojto 119:19af2d39a542 277 uint32_t size = 0;
Kojto 119:19af2d39a542 278 _mutex.lock();
Kojto 119:19af2d39a542 279
Kojto 119:19af2d39a542 280 if (_tid != NULL) {
Kojto 119:19af2d39a542 281 P_TCB tcb = rt_tid2ptcb(_tid);
Kojto 119:19af2d39a542 282 uint32_t top = (uint32_t)tcb->stack + tcb->priv_stack;
Kojto 119:19af2d39a542 283 size = top - tcb->tsk_stack;
Kojto 119:19af2d39a542 284 }
Kojto 119:19af2d39a542 285
Kojto 119:19af2d39a542 286 _mutex.unlock();
Kojto 119:19af2d39a542 287 return size;
mbed_official 112:53ace74b190c 288 #endif
mbed_official 112:53ace74b190c 289 #else
mbed_official 84:143955ffb790 290 return 0;
mbed_official 84:143955ffb790 291 #endif
mbed_official 84:143955ffb790 292 }
mbed_official 84:143955ffb790 293
mbed_official 84:143955ffb790 294 uint32_t Thread::max_stack() {
mbed_official 84:143955ffb790 295 #ifndef __MBED_CMSIS_RTOS_CA9
mbed_official 112:53ace74b190c 296 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
Kojto 119:19af2d39a542 297 uint32_t size = 0;
Kojto 119:19af2d39a542 298 _mutex.lock();
Kojto 119:19af2d39a542 299
Kojto 119:19af2d39a542 300 if (_tid != NULL) {
Kojto 119:19af2d39a542 301 uint32_t high_mark = 0;
Kojto 119:19af2d39a542 302 while (_thread_def.tcb.stack[high_mark] == 0xE25A2EA5)
Kojto 119:19af2d39a542 303 high_mark++;
Kojto 119:19af2d39a542 304 size = _thread_def.tcb.priv_stack - (high_mark * 4);
Kojto 119:19af2d39a542 305 }
Kojto 119:19af2d39a542 306
Kojto 119:19af2d39a542 307 _mutex.unlock();
Kojto 119:19af2d39a542 308 return size;
mbed_official 84:143955ffb790 309 #else
Kojto 119:19af2d39a542 310 uint32_t size = 0;
Kojto 119:19af2d39a542 311 _mutex.lock();
Kojto 119:19af2d39a542 312
Kojto 119:19af2d39a542 313 if (_tid != NULL) {
Kojto 119:19af2d39a542 314 P_TCB tcb = rt_tid2ptcb(_tid);
Kojto 119:19af2d39a542 315 uint32_t high_mark = 0;
Kojto 119:19af2d39a542 316 while (tcb->stack[high_mark] == 0xE25A2EA5)
Kojto 119:19af2d39a542 317 high_mark++;
Kojto 119:19af2d39a542 318 size = tcb->priv_stack - (high_mark * 4);
Kojto 119:19af2d39a542 319 }
Kojto 119:19af2d39a542 320
Kojto 119:19af2d39a542 321 _mutex.unlock();
Kojto 119:19af2d39a542 322 return size;
mbed_official 112:53ace74b190c 323 #endif
mbed_official 112:53ace74b190c 324 #else
mbed_official 84:143955ffb790 325 return 0;
mbed_official 84:143955ffb790 326 #endif
mbed_official 84:143955ffb790 327 }
mbed_official 84:143955ffb790 328
emilmont 8:88a1a9c26ae3 329 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
emilmont 8:88a1a9c26ae3 330 return osSignalWait(signals, millisec);
emilmont 8:88a1a9c26ae3 331 }
emilmont 8:88a1a9c26ae3 332
emilmont 8:88a1a9c26ae3 333 osStatus Thread::wait(uint32_t millisec) {
emilmont 8:88a1a9c26ae3 334 return osDelay(millisec);
emilmont 8:88a1a9c26ae3 335 }
emilmont 8:88a1a9c26ae3 336
emilmont 8:88a1a9c26ae3 337 osStatus Thread::yield() {
emilmont 8:88a1a9c26ae3 338 return osThreadYield();
emilmont 8:88a1a9c26ae3 339 }
emilmont 8:88a1a9c26ae3 340
emilmont 8:88a1a9c26ae3 341 osThreadId Thread::gettid() {
emilmont 8:88a1a9c26ae3 342 return osThreadGetId();
emilmont 8:88a1a9c26ae3 343 }
emilmont 8:88a1a9c26ae3 344
mbed_official 107:bdd541595fc5 345 void Thread::attach_idle_hook(void (*fptr)(void)) {
mbed_official 107:bdd541595fc5 346 rtos_attach_idle_hook(fptr);
mbed_official 107:bdd541595fc5 347 }
mbed_official 107:bdd541595fc5 348
c1728p9 123:58563e6cba1e 349 void Thread::attach_terminate_hook(void (*fptr)(osThreadId id)) {
c1728p9 123:58563e6cba1e 350 terminate_hook = fptr;
c1728p9 123:58563e6cba1e 351 }
c1728p9 123:58563e6cba1e 352
emilmont 8:88a1a9c26ae3 353 Thread::~Thread() {
Kojto 119:19af2d39a542 354 // terminate is thread safe
emilmont 8:88a1a9c26ae3 355 terminate();
mbed_official 112:53ace74b190c 356 #ifdef __MBED_CMSIS_RTOS_CM
emilmont 8:88a1a9c26ae3 357 if (_dynamic_stack) {
emilmont 8:88a1a9c26ae3 358 delete[] (_thread_def.stack_pointer);
c1728p9 123:58563e6cba1e 359 _thread_def.stack_pointer = (uint32_t*)NULL;
emilmont 8:88a1a9c26ae3 360 }
mbed_official 112:53ace74b190c 361 #endif
emilmont 8:88a1a9c26ae3 362 }
emilmont 8:88a1a9c26ae3 363
Kojto 119:19af2d39a542 364 void Thread::_thunk(const void * thread_ptr)
Kojto 119:19af2d39a542 365 {
Kojto 119:19af2d39a542 366 Thread *t = (Thread*)thread_ptr;
Kojto 119:19af2d39a542 367 t->_task();
Kojto 119:19af2d39a542 368 t->_mutex.lock();
Kojto 119:19af2d39a542 369 t->_tid = (osThreadId)NULL;
Kojto 119:19af2d39a542 370 t->_join_sem.release();
Kojto 119:19af2d39a542 371 // rtos will release the mutex automatically
emilmont 8:88a1a9c26ae3 372 }
Kojto 119:19af2d39a542 373
Kojto 119:19af2d39a542 374 }