Revision 8:88a1a9c26ae3, committed 2012-11-27

Comitter:

emilmont

Date:

Tue Nov 27 16:55:38 2012 +0000

Parent:

7:80173c64d05d

Child:

9:53e6cccd8782

Commit message:

Add "Thread::get_state" method.; Update license.; Update documentation.

Changed in this revision

--- a/rtos/Mail.h	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/Mail.h	Tue Nov 27 16:55:38 2012 +0000
@@ -1,89 +1,109 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef MAIL_H
-#define MAIL_H 
-
-#include <stdint.h>
-#include <string.h>
-
-#include "cmsis_os.h"
-
-namespace rtos {
-
-/*! The Mail class allow to control, send, receive, or wait for mail.
- A mail is a memory block that is send to a thread or interrupt service routine.
-  \tparam  T         data type of a single message element.
-  \tparam  queue_sz  maximum number of messages in queue.
-*/
-template<typename T, uint32_t queue_sz>
-class Mail {
-public:
-    /*! Create and Initialise Mail queue. */
-    Mail() {
-    #ifdef CMSIS_OS_RTX
-        memset(_mail_q, 0, sizeof(_mail_q));
-        _mail_p[0] = _mail_q;
-        
-        memset(_mail_m, 0, sizeof(_mail_m));
-        _mail_p[1] = _mail_m;
-        
-        _mail_def.pool = _mail_p;
-        _mail_def.queue_sz = queue_sz;
-        _mail_def.item_sz = sizeof(T);
-    #endif
-        _mail_id = osMailCreate(&_mail_def, NULL);
-    }
-    
-    /*! Allocate a memory block of type T
-      \param   millisec  timeout value or 0 in case of no time-out. (default: 0).
-      \return  pointer to memory block that can be filled with mail or NULL in case error.
-    */
-    T* alloc(uint32_t millisec=0) {
-        return (T*)osMailAlloc(_mail_id, millisec);
-    }
-    
-    /*! Allocate a memory block of type T and set memory block to zero. 
-      \param   millisec  timeout value or 0 in case of no time-out.  (default: 0).
-      \return  pointer to memory block that can be filled with mail or NULL in case error.
-    */
-    T* calloc(uint32_t millisec=0) {
-        return (T*)osMailCAlloc(_mail_id, millisec);
-    }
-    
-    /*! Put a mail in the queue.
-      \param   mptr  memory block previously allocated with Mail::alloc or Mail::calloc.
-      \return  status code that indicates the execution status of the function. 
-    */
-    osStatus put(T *mptr) {
-        return osMailPut(_mail_id, (void*)mptr);
-    }
-    
-    /*! Get a mail from a queue.
-      \param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
-      \return  event that contains mail information or error code.
-    */
-    osEvent get(uint32_t millisec=osWaitForever) {
-        return osMailGet(_mail_id, millisec);
-    }
-    
-    /*! Free a memory block from a mail.
-      \param   mptr  pointer to the memory block that was obtained with Mail::get. 
-      \return  status code that indicates the execution status of the function.
-    */
-    osStatus free(T *mptr) {
-        return osMailFree(_mail_id, (void*)mptr);
-    }
-
-private:
-    osMailQId    _mail_id;
-    osMailQDef_t _mail_def;
-#ifdef CMSIS_OS_RTX
-    uint32_t     _mail_q[4+(queue_sz)];
-    uint32_t     _mail_m[3+((sizeof(T)+3)/4)*(queue_sz)];
-    void        *_mail_p[2];
-#endif
-};
-
-}
-
-#endif
-
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef MAIL_H
+#define MAIL_H
+
+#include <stdint.h>
+#include <string.h>
+
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/** The Mail class allow to control, send, receive, or wait for mail.
+ A mail is a memory block that is send to a thread or interrupt service routine.
+  @tparam  T         data type of a single message element.
+  @tparam  queue_sz  maximum number of messages in queue.
+*/
+template<typename T, uint32_t queue_sz>
+class Mail {
+public:
+    /** Create and Initialise Mail queue. */
+    Mail() {
+    #ifdef CMSIS_OS_RTX
+        memset(_mail_q, 0, sizeof(_mail_q));
+        _mail_p[0] = _mail_q;
+        
+        memset(_mail_m, 0, sizeof(_mail_m));
+        _mail_p[1] = _mail_m;
+        
+        _mail_def.pool = _mail_p;
+        _mail_def.queue_sz = queue_sz;
+        _mail_def.item_sz = sizeof(T);
+    #endif
+        _mail_id = osMailCreate(&_mail_def, NULL);
+    }
+    
+    /** Allocate a memory block of type T
+      @param   millisec  timeout value or 0 in case of no time-out. (default: 0).
+      @return  pointer to memory block that can be filled with mail or NULL in case error.
+    */
+    T* alloc(uint32_t millisec=0) {
+        return (T*)osMailAlloc(_mail_id, millisec);
+    }
+    
+    /** Allocate a memory block of type T and set memory block to zero. 
+      @param   millisec  timeout value or 0 in case of no time-out.  (default: 0).
+      @return  pointer to memory block that can be filled with mail or NULL in case error.
+    */
+    T* calloc(uint32_t millisec=0) {
+        return (T*)osMailCAlloc(_mail_id, millisec);
+    }
+    
+    /** Put a mail in the queue.
+      @param   mptr  memory block previously allocated with Mail::alloc or Mail::calloc.
+      @return  status code that indicates the execution status of the function. 
+    */
+    osStatus put(T *mptr) {
+        return osMailPut(_mail_id, (void*)mptr);
+    }
+    
+    /** Get a mail from a queue.
+      @param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
+      @return  event that contains mail information or error code.
+    */
+    osEvent get(uint32_t millisec=osWaitForever) {
+        return osMailGet(_mail_id, millisec);
+    }
+    
+    /** Free a memory block from a mail.
+      @param   mptr  pointer to the memory block that was obtained with Mail::get. 
+      @return  status code that indicates the execution status of the function.
+    */
+    osStatus free(T *mptr) {
+        return osMailFree(_mail_id, (void*)mptr);
+    }
+
+private:
+    osMailQId    _mail_id;
+    osMailQDef_t _mail_def;
+#ifdef CMSIS_OS_RTX
+    uint32_t     _mail_q[4+(queue_sz)];
+    uint32_t     _mail_m[3+((sizeof(T)+3)/4)*(queue_sz)];
+    void        *_mail_p[2];
+#endif
+};
+
+}
+
+#endif
+

--- a/rtos/MemoryPool.h	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/MemoryPool.h	Tue Nov 27 16:55:38 2012 +0000
@@ -1,62 +1,82 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef MEMORYPOOL_H
-#define MEMORYPOOL_H 
-
-#include <stdint.h>
-#include <string.h>
-
-#include "cmsis_os.h"
-
-namespace rtos {
-
-/*! Define and manage fixed-size memory pools of objects of a given type.
-  \tparam  T         data type of a single object (element).
-  \tparam  queue_sz  maximum number of objects (elements) in the memory pool.
-*/
-template<typename T, uint32_t pool_sz>
-class MemoryPool {
-public:
-    /*! Create and Initialize a memory pool. */
-    MemoryPool() {
-    #ifdef CMSIS_OS_RTX
-        memset(_pool_m, 0, sizeof(_pool_m));
-        _pool_def.pool = _pool_m;
-        
-        _pool_def.pool_sz = pool_sz;
-        _pool_def.item_sz =  sizeof(T);
-    #endif
-        _pool_id = osPoolCreate(&_pool_def);
-    }
-    
-    /*! Allocate a memory block of type T from a memory pool.
-      \return  address of the allocated memory block or NULL in case of no memory available.
-    */
-    T* alloc(void) {
-        return (T*)osPoolAlloc(_pool_id);
-    }
-    
-    /*! Allocate a memory block of type T from a memory pool and set memory block to zero.
-      \return  address of the allocated memory block or NULL in case of no memory available. 
-    */
-    T* calloc(void) {
-        return (T*)osPoolCAlloc(_pool_id);
-    }
-    
-    /*! Return an allocated memory block back to a specific memory pool.
-      \param   address of the allocated memory block that is returned to the memory pool.
-      \return  status code that indicates the execution status of the function. 
-    */
-    osStatus free(T *block) {
-        return osPoolFree(_pool_id, (void*)block);
-    }
-
-private:
-    osPoolId    _pool_id;
-    osPoolDef_t _pool_def;
-#ifdef CMSIS_OS_RTX
-    uint32_t    _pool_m[3+((sizeof(T)+3)/4)*(pool_sz)];
-#endif
-};
-
-}
-#endif
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef MEMORYPOOL_H
+#define MEMORYPOOL_H
+
+#include <stdint.h>
+#include <string.h>
+
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/** Define and manage fixed-size memory pools of objects of a given type.
+  @tparam  T         data type of a single object (element).
+  @tparam  queue_sz  maximum number of objects (elements) in the memory pool.
+*/
+template<typename T, uint32_t pool_sz>
+class MemoryPool {
+public:
+    /** Create and Initialize a memory pool. */
+    MemoryPool() {
+    #ifdef CMSIS_OS_RTX
+        memset(_pool_m, 0, sizeof(_pool_m));
+        _pool_def.pool = _pool_m;
+        
+        _pool_def.pool_sz = pool_sz;
+        _pool_def.item_sz =  sizeof(T);
+    #endif
+        _pool_id = osPoolCreate(&_pool_def);
+    }
+    
+    /** Allocate a memory block of type T from a memory pool.
+      @return  address of the allocated memory block or NULL in case of no memory available.
+    */
+    T* alloc(void) {
+        return (T*)osPoolAlloc(_pool_id);
+    }
+    
+    /** Allocate a memory block of type T from a memory pool and set memory block to zero.
+      @return  address of the allocated memory block or NULL in case of no memory available. 
+    */
+    T* calloc(void) {
+        return (T*)osPoolCAlloc(_pool_id);
+    }
+    
+    /** Return an allocated memory block back to a specific memory pool.
+      @param   address of the allocated memory block that is returned to the memory pool.
+      @return  status code that indicates the execution status of the function. 
+    */
+    osStatus free(T *block) {
+        return osPoolFree(_pool_id, (void*)block);
+    }
+
+private:
+    osPoolId    _pool_id;
+    osPoolDef_t _pool_def;
+#ifdef CMSIS_OS_RTX
+    uint32_t    _pool_m[3+((sizeof(T)+3)/4)*(pool_sz)];
+#endif
+};
+
+}
+#endif

--- a/rtos/Mutex.cpp	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/Mutex.cpp	Tue Nov 27 16:55:38 2012 +0000
@@ -1,35 +1,56 @@
-#include "Mutex.h"
-
-#include <string.h>
-#include "error.h"
-
-namespace rtos {
-
-Mutex::Mutex() {
-#ifdef CMSIS_OS_RTX
-    memset(_mutex_data, 0, sizeof(_mutex_data));
-    _osMutexDef.mutex = _mutex_data;
-#endif
-    _osMutexId = osMutexCreate(&_osMutexDef);
-    if (_osMutexId == NULL) {
-        error("Error initializing the mutex object\n");
-    }
-}
-
-osStatus Mutex::lock(uint32_t millisec) {
-    return osMutexWait(_osMutexId, millisec);
-}
-
-bool Mutex::trylock() {
-    return (osMutexWait(_osMutexId, 0) == osOK);
-}
-
-osStatus Mutex::unlock() {
-    return osMutexRelease(_osMutexId);
-}
-
-Mutex::~Mutex() {
-    osMutexDelete(_osMutexId);
-}
-
-}
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "Mutex.h"
+
+#include <string.h>
+#include "error.h"
+
+namespace rtos {
+
+Mutex::Mutex() {
+#ifdef CMSIS_OS_RTX
+    memset(_mutex_data, 0, sizeof(_mutex_data));
+    _osMutexDef.mutex = _mutex_data;
+#endif
+    _osMutexId = osMutexCreate(&_osMutexDef);
+    if (_osMutexId == NULL) {
+        error("Error initializing the mutex object\n");
+    }
+}
+
+osStatus Mutex::lock(uint32_t millisec) {
+    return osMutexWait(_osMutexId, millisec);
+}
+
+bool Mutex::trylock() {
+    return (osMutexWait(_osMutexId, 0) == osOK);
+}
+
+osStatus Mutex::unlock() {
+    return osMutexRelease(_osMutexId);
+}
+
+Mutex::~Mutex() {
+    osMutexDelete(_osMutexId);
+}
+
+}

--- a/rtos/Mutex.h	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/Mutex.h	Tue Nov 27 16:55:38 2012 +0000
@@ -1,45 +1,65 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef MUTEX_H
-#define MUTEX_H 
-
-#include <stdint.h>
-#include "cmsis_os.h"
-
-namespace rtos {
-
-/*! The Mutex class is used to synchronise the execution of threads.
- This is for example used to protect access to a shared resource.
-*/
-class Mutex {
-public:
-    /*! Create and Initialize a Mutex object */
-    Mutex();
-    
-    /*! Wait until a Mutex becomes available.
-      \param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever)
-      \return  status code that indicates the execution status of the function.
-     */ 
-    osStatus lock(uint32_t millisec=osWaitForever);
-    
-    /*! Try to lock the mutex, and return immediately
-      \return  true if the mutex was acquired, false otherwise.
-     */
-    bool trylock();
-    
-    /*! Unlock the mutex that has previously been locked by the same thread
-      \return  status code that indicates the execution status of the function. 
-     */
-    osStatus unlock();
-    
-    ~Mutex();
-
-private:
-    osMutexId _osMutexId;
-    osMutexDef_t _osMutexDef;
-#ifdef CMSIS_OS_RTX
-    int32_t _mutex_data[3];
-#endif
-};
-
-}
-#endif
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef MUTEX_H
+#define MUTEX_H
+
+#include <stdint.h>
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/** The Mutex class is used to synchronise the execution of threads.
+ This is for example used to protect access to a shared resource.
+*/
+class Mutex {
+public:
+    /** Create and Initialize a Mutex object */
+    Mutex();
+    
+    /** Wait until a Mutex becomes available.
+      @param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever)
+      @return  status code that indicates the execution status of the function.
+     */ 
+    osStatus lock(uint32_t millisec=osWaitForever);
+    
+    /** Try to lock the mutex, and return immediately
+      @return  true if the mutex was acquired, false otherwise.
+     */
+    bool trylock();
+    
+    /** Unlock the mutex that has previously been locked by the same thread
+      @return  status code that indicates the execution status of the function. 
+     */
+    osStatus unlock();
+    
+    ~Mutex();
+
+private:
+    osMutexId _osMutexId;
+    osMutexDef_t _osMutexDef;
+#ifdef CMSIS_OS_RTX
+    int32_t _mutex_data[3];
+#endif
+};
+
+}
+#endif

--- a/rtos/Queue.h	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/Queue.h	Tue Nov 27 16:55:38 2012 +0000
@@ -1,61 +1,81 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef QUEUE_H
-#define QUEUE_H 
-
-#include <stdint.h>
-#include <string.h>
-
-#include "cmsis_os.h"
-#include "error.h"
-
-namespace rtos {
-
-/*! The Queue class allow to control, send, receive, or wait for messages.
- A message can be a integer or pointer value  to a certain type T that is send
- to a thread or interrupt service routine.
-  \tparam  T         data type of a single message element.
-  \tparam  queue_sz  maximum number of messages in queue.
-*/
-template<typename T, uint32_t queue_sz>
-class Queue {
-public:
-    /*! Create and initialise a message Queue. */
-    Queue() {
-    #ifdef CMSIS_OS_RTX
-        memset(_queue_q, 0, sizeof(_queue_q));
-        _queue_def.pool = _queue_q;
-        _queue_def.queue_sz = queue_sz;
-    #endif
-        _queue_id = osMessageCreate(&_queue_def, NULL);
-        if (_queue_id == NULL) {
-            error("Error initialising the queue object\n");
-        }
-    }
-    
-    /*! Put a message in a Queue.
-      \param   data      message pointer.
-      \param   millisec  timeout value or 0 in case of no time-out. (default: 0)
-      \return  status code that indicates the execution status of the function. 
-    */
-    osStatus put(T* data, uint32_t millisec=0) {
-        return osMessagePut(_queue_id, (uint32_t)data, millisec);
-    }
-    
-    /*! Get a message or Wait for a message from a Queue.
-      \param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
-      \return  event information that includes the message and the status code.
-    */
-    osEvent get(uint32_t millisec=osWaitForever) {
-        return osMessageGet(_queue_id, millisec);
-    }
-
-private:
-    osMessageQId    _queue_id;
-    osMessageQDef_t _queue_def;
-#ifdef CMSIS_OS_RTX
-    uint32_t        _queue_q[4+(queue_sz)];
-#endif
-};
-
-}
-#endif
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef QUEUE_H
+#define QUEUE_H
+
+#include <stdint.h>
+#include <string.h>
+
+#include "cmsis_os.h"
+#include "error.h"
+
+namespace rtos {
+
+/** The Queue class allow to control, send, receive, or wait for messages.
+ A message can be a integer or pointer value  to a certain type T that is send
+ to a thread or interrupt service routine.
+  @tparam  T         data type of a single message element.
+  @tparam  queue_sz  maximum number of messages in queue.
+*/
+template<typename T, uint32_t queue_sz>
+class Queue {
+public:
+    /** Create and initialise a message Queue. */
+    Queue() {
+    #ifdef CMSIS_OS_RTX
+        memset(_queue_q, 0, sizeof(_queue_q));
+        _queue_def.pool = _queue_q;
+        _queue_def.queue_sz = queue_sz;
+    #endif
+        _queue_id = osMessageCreate(&_queue_def, NULL);
+        if (_queue_id == NULL) {
+            error("Error initialising the queue object\n");
+        }
+    }
+    
+    /** Put a message in a Queue.
+      @param   data      message pointer.
+      @param   millisec  timeout value or 0 in case of no time-out. (default: 0)
+      @return  status code that indicates the execution status of the function. 
+    */
+    osStatus put(T* data, uint32_t millisec=0) {
+        return osMessagePut(_queue_id, (uint32_t)data, millisec);
+    }
+    
+    /** Get a message or Wait for a message from a Queue.
+      @param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
+      @return  event information that includes the message and the status code.
+    */
+    osEvent get(uint32_t millisec=osWaitForever) {
+        return osMessageGet(_queue_id, millisec);
+    }
+
+private:
+    osMessageQId    _queue_id;
+    osMessageQDef_t _queue_def;
+#ifdef CMSIS_OS_RTX
+    uint32_t        _queue_q[4+(queue_sz)];
+#endif
+};
+
+}
+#endif

--- a/rtos/RtosTimer.cpp	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/RtosTimer.cpp	Tue Nov 27 16:55:38 2012 +0000
@@ -1,32 +1,53 @@
-#include "RtosTimer.h"
-
-#include <string.h>
-
-#include "cmsis_os.h"
-#include "error.h"
-
-namespace rtos {
-
-RtosTimer::RtosTimer(void (*periodic_task)(void const *argument), os_timer_type type, void *argument) {
-#ifdef CMSIS_OS_RTX
-    _timer.ptimer = periodic_task;
-    
-    memset(_timer_data, 0, sizeof(_timer_data));
-    _timer.timer = _timer_data;
-#endif
-    _timer_id = osTimerCreate(&_timer, type, argument);
-}
-
-osStatus RtosTimer::start(uint32_t millisec) {
-    return osTimerStart(_timer_id, millisec);
-}
-
-osStatus RtosTimer::stop(void) {
-    return osTimerStop(_timer_id);
-}
-
-RtosTimer::~RtosTimer() {
-    osTimerDelete(_timer_id);
-}
-
-}
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "RtosTimer.h"
+
+#include <string.h>
+
+#include "cmsis_os.h"
+#include "error.h"
+
+namespace rtos {
+
+RtosTimer::RtosTimer(void (*periodic_task)(void const *argument), os_timer_type type, void *argument) {
+#ifdef CMSIS_OS_RTX
+    _timer.ptimer = periodic_task;
+    
+    memset(_timer_data, 0, sizeof(_timer_data));
+    _timer.timer = _timer_data;
+#endif
+    _timer_id = osTimerCreate(&_timer, type, argument);
+}
+
+osStatus RtosTimer::start(uint32_t millisec) {
+    return osTimerStart(_timer_id, millisec);
+}
+
+osStatus RtosTimer::stop(void) {
+    return osTimerStop(_timer_id);
+}
+
+RtosTimer::~RtosTimer() {
+    osTimerDelete(_timer_id);
+}
+
+}

--- a/rtos/RtosTimer.h	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/RtosTimer.h	Tue Nov 27 16:55:38 2012 +0000
@@ -1,51 +1,71 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef TIMER_H
-#define TIMER_H 
-
-#include <stdint.h>
-#include "cmsis_os.h"
-
-namespace rtos {
-
-/*! The RtosTimer class allow creating and and controlling of timer functions in the system.
- A timer function is called when a time period expires whereby both on-shot and
- periodic timers are possible. A timer can be started, restarted, or stopped.
-
- Timers are handled in the thread osTimerThread.
- Callback functions run under control of this thread and may use CMSIS-RTOS API calls. 
-*/
-class RtosTimer {
-public:
-    /*! Create and Start timer.
-      \param   task      name of the timer call back function.
-      \param   type      osTimerOnce for one-shot or osTimerPeriodic for periodic behaviour. (default: osTimerPeriodic)
-      \param   argument  argument to the timer call back function. (default: NULL)
-    */
-    RtosTimer(void (*task)(void const *argument),
-          os_timer_type type=osTimerPeriodic,
-          void *argument=NULL);
-    
-    /*! Stop the timer.
-      \return  status code that indicates the execution status of the function. 
-    */
-    osStatus stop(void);
-    
-    /*! start a timer.
-      \param   millisec  time delay value of the timer.
-      \return  status code that indicates the execution status of the function. 
-    */
-    osStatus start(uint32_t millisec);
-    
-    ~RtosTimer();
-
-private:
-    osTimerId _timer_id;
-    osTimerDef_t _timer;
-#ifdef CMSIS_OS_RTX
-    uint32_t _timer_data[5];
-#endif
-};
-
-}
-
-#endif
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef RTOS_TIMER_H
+#define RTOS_TIMER_H
+
+#include <stdint.h>
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/** The RtosTimer class allow creating and and controlling of timer functions in the system.
+ A timer function is called when a time period expires whereby both on-shot and
+ periodic timers are possible. A timer can be started, restarted, or stopped.
+
+ Timers are handled in the thread osTimerThread.
+ Callback functions run under control of this thread and may use CMSIS-RTOS API calls. 
+*/
+class RtosTimer {
+public:
+    /** Create and Start timer.
+      @param   task      name of the timer call back function.
+      @param   type      osTimerOnce for one-shot or osTimerPeriodic for periodic behaviour. (default: osTimerPeriodic)
+      @param   argument  argument to the timer call back function. (default: NULL)
+    */
+    RtosTimer(void (*task)(void const *argument),
+          os_timer_type type=osTimerPeriodic,
+          void *argument=NULL);
+    
+    /** Stop the timer.
+      @return  status code that indicates the execution status of the function. 
+    */
+    osStatus stop(void);
+    
+    /** start a timer.
+      @param   millisec  time delay value of the timer.
+      @return  status code that indicates the execution status of the function. 
+    */
+    osStatus start(uint32_t millisec);
+    
+    ~RtosTimer();
+
+private:
+    osTimerId _timer_id;
+    osTimerDef_t _timer;
+#ifdef CMSIS_OS_RTX
+    uint32_t _timer_data[5];
+#endif
+};
+
+}
+
+#endif

--- a/rtos/Semaphore.cpp	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/Semaphore.cpp	Tue Nov 27 16:55:38 2012 +0000
@@ -1,28 +1,49 @@
-#include "Semaphore.h"
-
-#include <string.h>
-#include "error.h"
-
-namespace rtos {
-
-Semaphore::Semaphore(int32_t count) {
-#ifdef CMSIS_OS_RTX
-    memset(_semaphore_data, 0, sizeof(_semaphore_data));
-    _osSemaphoreDef.semaphore = _semaphore_data;
-#endif
-    _osSemaphoreId = osSemaphoreCreate(&_osSemaphoreDef, count);
-}
-
-int32_t Semaphore::wait(uint32_t millisec) {
-    return osSemaphoreWait(_osSemaphoreId, millisec);
-}
-
-osStatus Semaphore::release(void) {
-    return osSemaphoreRelease(_osSemaphoreId);
-}
-
-Semaphore::~Semaphore() {
-    osSemaphoreDelete(_osSemaphoreId);
-}
-
-}
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "Semaphore.h"
+
+#include <string.h>
+#include "error.h"
+
+namespace rtos {
+
+Semaphore::Semaphore(int32_t count) {
+#ifdef CMSIS_OS_RTX
+    memset(_semaphore_data, 0, sizeof(_semaphore_data));
+    _osSemaphoreDef.semaphore = _semaphore_data;
+#endif
+    _osSemaphoreId = osSemaphoreCreate(&_osSemaphoreDef, count);
+}
+
+int32_t Semaphore::wait(uint32_t millisec) {
+    return osSemaphoreWait(_osSemaphoreId, millisec);
+}
+
+osStatus Semaphore::release(void) {
+    return osSemaphoreRelease(_osSemaphoreId);
+}
+
+Semaphore::~Semaphore() {
+    osSemaphoreDelete(_osSemaphoreId);
+}
+
+}

--- a/rtos/Semaphore.h	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/Semaphore.h	Tue Nov 27 16:55:38 2012 +0000
@@ -1,40 +1,60 @@
-/* Copyright (c) 2012 mbed.org */
-#ifndef SEMAPHORE_H
-#define SEMAPHORE_H 
-
-#include <stdint.h>
-#include "cmsis_os.h"
-
-namespace rtos {
-
-/*! The Semaphore class is used to manage and protect access to a set of shared resources. */
-class Semaphore {
-public:
-    /*! Create and Initialize a Semaphore object used for managing resources. 
-      \param number of available resources; maximum index value is (count-1).
-    */
-    Semaphore(int32_t count);
-    
-    /*! Wait until a Semaphore resource becomes available. 
-      \param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
-      \return  number of available tokens, or -1 in case of incorrect parameters
-    */
-    int32_t wait(uint32_t millisec=osWaitForever);
-    
-    /*! Release a Semaphore resource that was obtain with Semaphore::wait.
-      \return  status code that indicates the execution status of the function. 
-    */
-    osStatus release(void);
-    
-    ~Semaphore();
-
-private:
-    osSemaphoreId _osSemaphoreId;
-    osSemaphoreDef_t _osSemaphoreDef;
-#ifdef CMSIS_OS_RTX
-    uint32_t _semaphore_data[2];
-#endif
-};
-
-}
-#endif
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef SEMAPHORE_H
+#define SEMAPHORE_H
+
+#include <stdint.h>
+#include "cmsis_os.h"
+
+namespace rtos {
+
+/** The Semaphore class is used to manage and protect access to a set of shared resources. */
+class Semaphore {
+public:
+    /** Create and Initialize a Semaphore object used for managing resources. 
+      @param number of available resources; maximum index value is (count-1).
+    */
+    Semaphore(int32_t count);
+    
+    /** Wait until a Semaphore resource becomes available. 
+      @param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
+      @return  number of available tokens, or -1 in case of incorrect parameters
+    */
+    int32_t wait(uint32_t millisec=osWaitForever);
+    
+    /** Release a Semaphore resource that was obtain with Semaphore::wait.
+      @return  status code that indicates the execution status of the function. 
+    */
+    osStatus release(void);
+    
+    ~Semaphore();
+
+private:
+    osSemaphoreId _osSemaphoreId;
+    osSemaphoreDef_t _osSemaphoreDef;
+#ifdef CMSIS_OS_RTX
+    uint32_t _semaphore_data[2];
+#endif
+};
+
+}
+#endif

--- a/rtos/Thread.cpp	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/Thread.cpp	Tue Nov 27 16:55:38 2012 +0000
@@ -1,65 +1,90 @@
-#include "Thread.h"
-
-#include "error.h"
-
-namespace rtos {
-
-Thread::Thread(void (*task)(void const *argument), void *argument,
-        osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
-#ifdef CMSIS_OS_RTX
-    _thread_def.pthread = task;
-    _thread_def.tpriority = priority;
-    _thread_def.stacksize = stack_size;
-    if (stack_pointer != NULL) {
-        _thread_def.stack_pointer = stack_pointer;
-        _dynamic_stack = false;
-    } else {
-        _thread_def.stack_pointer = new unsigned char[stack_size];
-        if (_thread_def.stack_pointer == NULL)
-            error("Error allocating the stack memory");
-        _dynamic_stack = true;
-    }
-#endif
-    _tid = osThreadCreate(&_thread_def, argument);
-}
-
-osStatus Thread::terminate() {
-    return osThreadTerminate(_tid);
-}
-
-osStatus Thread::set_priority(osPriority priority) {
-    return osThreadSetPriority(_tid, priority);
-}
-
-osPriority Thread::get_priority() {
-    return osThreadGetPriority(_tid);
-}
-
-int32_t Thread::signal_set(int32_t signals) {
-    return osSignalSet(_tid, signals);
-}
-
-osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
-    return osSignalWait(signals, millisec);
-}
-
-osStatus Thread::wait(uint32_t millisec) {
-    return osDelay(millisec);
-}
-
-osStatus Thread::yield() {
-    return osThreadYield();
-}
-
-osThreadId Thread::gettid() {
-    return osThreadGetId();
-}
-
-Thread::~Thread() {
-    terminate();
-    if (_dynamic_stack) {
-        delete[] (_thread_def.stack_pointer);
-    }
-}
-
-}
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#include "Thread.h"
+
+#include "error.h"
+
+namespace rtos {
+
+Thread::Thread(void (*task)(void const *argument), void *argument,
+        osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
+#ifdef CMSIS_OS_RTX
+    _thread_def.pthread = task;
+    _thread_def.tpriority = priority;
+    _thread_def.stacksize = stack_size;
+    if (stack_pointer != NULL) {
+        _thread_def.stack_pointer = stack_pointer;
+        _dynamic_stack = false;
+    } else {
+        _thread_def.stack_pointer = new unsigned char[stack_size];
+        if (_thread_def.stack_pointer == NULL)
+            error("Error allocating the stack memory");
+        _dynamic_stack = true;
+    }
+#endif
+    _tid = osThreadCreate(&_thread_def, argument);
+}
+
+osStatus Thread::terminate() {
+    return osThreadTerminate(_tid);
+}
+
+osStatus Thread::set_priority(osPriority priority) {
+    return osThreadSetPriority(_tid, priority);
+}
+
+osPriority Thread::get_priority() {
+    return osThreadGetPriority(_tid);
+}
+
+int32_t Thread::signal_set(int32_t signals) {
+    return osSignalSet(_tid, signals);
+}
+
+Thread::State Thread::get_state() {
+    return ((State)_thread_def.tcb.state);
+}
+
+osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
+    return osSignalWait(signals, millisec);
+}
+
+osStatus Thread::wait(uint32_t millisec) {
+    return osDelay(millisec);
+}
+
+osStatus Thread::yield() {
+    return osThreadYield();
+}
+
+osThreadId Thread::gettid() {
+    return osThreadGetId();
+}
+
+Thread::~Thread() {
+    terminate();
+    if (_dynamic_stack) {
+        delete[] (_thread_def.stack_pointer);
+    }
+}
+
+}

--- a/rtos/Thread.h	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/Thread.h	Tue Nov 27 16:55:38 2012 +0000
@@ -1,70 +1,108 @@
-/* Copyright (c) 2012 mbed.org */
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
 #ifndef THREAD_H
-#define THREAD_H 
+#define THREAD_H
 
 #include <stdint.h>
 #include "cmsis_os.h"
 
 namespace rtos {
 
-/*! The Thread class allow defining, creating, and controlling thread functions in the system. */
+/** The Thread class allow defining, creating, and controlling thread functions in the system. */
 class Thread {
 public:
-    /*! Create a new thread, and start it executing the specified function.
-      \param   task           function to be executed by this thread.
-      \param   argument       pointer that is passed to the thread function as start argument. (default: NULL).
-      \param   priority       initial priority of the thread function. (default: osPriorityNormal).
-      \param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
-      \param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
+    /** Create a new thread, and start it executing the specified function.
+      @param   task           function to be executed by this thread.
+      @param   argument       pointer that is passed to the thread function as start argument. (default: NULL).
+      @param   priority       initial priority of the thread function. (default: osPriorityNormal).
+      @param   stack_size      stack size (in bytes) requirements for the thread function. (default: DEFAULT_STACK_SIZE).
+      @param   stack_pointer  pointer to the stack area to be used by this thread (default: NULL).
     */
     Thread(void (*task)(void const *argument), void *argument=NULL,
            osPriority priority=osPriorityNormal,
            uint32_t stack_size=DEFAULT_STACK_SIZE,
            unsigned char *stack_pointer=NULL);
     
-    /*! Terminate execution of a thread and remove it from Active Threads
-      \return  status code that indicates the execution status of the function.
+    /** Terminate execution of a thread and remove it from Active Threads
+      @return  status code that indicates the execution status of the function.
     */
     osStatus terminate();
     
-    /*! Set priority of an active thread
-      \param   priority  new priority value for the thread function.
-      \return  status code that indicates the execution status of the function.
+    /** Set priority of an active thread
+      @param   priority  new priority value for the thread function.
+      @return  status code that indicates the execution status of the function.
     */
     osStatus set_priority(osPriority priority);
     
-    /*! Get priority of an active thread
-      \ return  current priority value of the thread function.
+    /** Get priority of an active thread
+      @return  current priority value of the thread function.
     */
     osPriority get_priority();
     
-    /*! Set the specified Signal Flags of an active thread.
-      \param   signals  specifies the signal flags of the thread that should be set.
-      \return  previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
+    /** Set the specified Signal Flags of an active thread.
+      @param   signals  specifies the signal flags of the thread that should be set.
+      @return  previous signal flags of the specified thread or 0x80000000 in case of incorrect parameters.
     */
     int32_t signal_set(int32_t signals);
     
-    /*! Wait for one or more Signal Flags to become signaled for the current RUNNING thread. 
-      \param   signals   wait until all specified signal flags set or 0 for any single signal flag.
-      \param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
-      \return  event flag information or error code.
+    /** State of the Thread */
+    enum State {
+        Inactive,           /**< Not created or terminated */
+        Ready,              /**< Ready to run */
+        Running,            /**< Running */
+        WaitingDelay,       /**< Waiting for a delay to occur */
+        WaitingInterval,    /**< Waiting for an interval to occur */
+        WaitingOr,          /**< Waiting for one event in a set to occur */
+        WaitingAnd,         /**< Waiting for multiple events in a set to occur */
+        WaitingSemaphore,   /**< Waiting for a semaphore event to occur */
+        WaitingMailbox,     /**< Waiting for a mailbox event to occur */
+        WaitingMutex,       /**< Waiting for a mutex event to occur */
+    };
+    
+    /** State of this Thread
+      @return  the State of this Thread
+    */
+    State get_state();
+    
+    /** Wait for one or more Signal Flags to become signaled for the current RUNNING thread. 
+      @param   signals   wait until all specified signal flags set or 0 for any single signal flag.
+      @param   millisec  timeout value or 0 in case of no time-out. (default: osWaitForever).
+      @return  event flag information or error code.
     */
     static osEvent signal_wait(int32_t signals, uint32_t millisec=osWaitForever);
     
-    
-    /*! Wait for a specified time period in millisec:
-      \param   millisec  time delay value
-      \return  status code that indicates the execution status of the function. 
+    /** Wait for a specified time period in millisec:
+      @param   millisec  time delay value
+      @return  status code that indicates the execution status of the function. 
     */
     static osStatus wait(uint32_t millisec);
     
-    /*! Pass control to next thread that is in state READY.
-      \return  status code that indicates the execution status of the function.
+    /** Pass control to next thread that is in state READY.
+      @return  status code that indicates the execution status of the function.
     */
     static osStatus yield();
     
-    /*! Get the thread id of the current running thread.
-      \return  thread ID for reference by other functions or NULL in case of error.
+    /** Get the thread id of the current running thread.
+      @return  thread ID for reference by other functions or NULL in case of error.
     */
     static osThreadId gettid();
     

--- a/rtos/rtos.h	Fri Nov 23 10:16:38 2012 +0000
+++ b/rtos/rtos.h	Tue Nov 27 16:55:38 2012 +0000
@@ -1,17 +1,35 @@
-/* mbed Microcontroller Library
- * Copyright (c) 2006-2012 ARM Limited. All rights reserved.
- */
-#ifndef RTOS_H
-#define RTOS_H
-
-#include "Thread.h"
-#include "Mutex.h"
-#include "RtosTimer.h"
-#include "Semaphore.h"
-#include "Mail.h"
-#include "MemoryPool.h"
-#include "Queue.h"
-
-using namespace rtos;
-
-#endif
+/* mbed Microcontroller Library
+ * Copyright (c) 2006-2012 ARM Limited
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ * SOFTWARE.
+ */
+#ifndef RTOS_H
+#define RTOS_H
+
+#include "Thread.h"
+#include "Mutex.h"
+#include "RtosTimer.h"
+#include "Semaphore.h"
+#include "Mail.h"
+#include "MemoryPool.h"
+#include "Queue.h"
+
+using namespace rtos;
+
+#endif