Simone Mentasti / Mbed 2 deprecated AcquisizioneIMU

STM Imu acquisition setup using ethernet

Dependencies:   F7_Ethernet mbed HTS221 LPS22HB LSM303AGR LSM6DSL

Fork of Nucleo_F746ZG_Ethernet by Dieter Graef

mbed-rtos/rtos/Thread.cpp@9:45a96c88754d, 2018-10-15 (annotated)

Committer:
nirnakern
Date:
Mon Oct 15 14:41:19 2018 +0000
Revision:
9:45a96c88754d
Parent:
0:f9b6112278fe 
First Commit

Who changed what in which revision?

UserRevisionLine numberNew contents of line
DieterGraef 0:f9b6112278fe 1 /* mbed Microcontroller Library
DieterGraef 0:f9b6112278fe 2 * Copyright (c) 2006-2012 ARM Limited
DieterGraef 0:f9b6112278fe 3 *
DieterGraef 0:f9b6112278fe 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
DieterGraef 0:f9b6112278fe 5 * of this software and associated documentation files (the "Software"), to deal
DieterGraef 0:f9b6112278fe 6 * in the Software without restriction, including without limitation the rights
DieterGraef 0:f9b6112278fe 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
DieterGraef 0:f9b6112278fe 8 * copies of the Software, and to permit persons to whom the Software is
DieterGraef 0:f9b6112278fe 9 * furnished to do so, subject to the following conditions:
DieterGraef 0:f9b6112278fe 10 *
DieterGraef 0:f9b6112278fe 11 * The above copyright notice and this permission notice shall be included in
DieterGraef 0:f9b6112278fe 12 * all copies or substantial portions of the Software.
DieterGraef 0:f9b6112278fe 13 *
DieterGraef 0:f9b6112278fe 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
DieterGraef 0:f9b6112278fe 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
DieterGraef 0:f9b6112278fe 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
DieterGraef 0:f9b6112278fe 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
DieterGraef 0:f9b6112278fe 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
DieterGraef 0:f9b6112278fe 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
DieterGraef 0:f9b6112278fe 20 * SOFTWARE.
DieterGraef 0:f9b6112278fe 21 */
DieterGraef 0:f9b6112278fe 22 #include "Thread.h"
DieterGraef 0:f9b6112278fe 23
DieterGraef 0:f9b6112278fe 24 #include "mbed_error.h"
DieterGraef 0:f9b6112278fe 25 #include "rtos_idle.h"
DieterGraef 0:f9b6112278fe 26
DieterGraef 0:f9b6112278fe 27 // rt_tid2ptcb is an internal function which we exposed to get TCB for thread id
DieterGraef 0:f9b6112278fe 28 #undef NULL //Workaround for conflicting macros in rt_TypeDef.h and stdio.h
DieterGraef 0:f9b6112278fe 29 #include "rt_TypeDef.h"
DieterGraef 0:f9b6112278fe 30
DieterGraef 0:f9b6112278fe 31 extern "C" P_TCB rt_tid2ptcb(osThreadId thread_id);
DieterGraef 0:f9b6112278fe 32
DieterGraef 0:f9b6112278fe 33 namespace rtos {
DieterGraef 0:f9b6112278fe 34
DieterGraef 0:f9b6112278fe 35 Thread::Thread(void (*task)(void const *argument), void *argument,
DieterGraef 0:f9b6112278fe 36 osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
DieterGraef 0:f9b6112278fe 37 #if defined(__MBED_CMSIS_RTOS_CA9) || defined(__MBED_CMSIS_RTOS_CM)
DieterGraef 0:f9b6112278fe 38 _thread_def.pthread = task;
DieterGraef 0:f9b6112278fe 39 _thread_def.tpriority = priority;
DieterGraef 0:f9b6112278fe 40 _thread_def.stacksize = stack_size;
DieterGraef 0:f9b6112278fe 41 if (stack_pointer != NULL) {
DieterGraef 0:f9b6112278fe 42 _thread_def.stack_pointer = (uint32_t*)stack_pointer;
DieterGraef 0:f9b6112278fe 43 _dynamic_stack = false;
DieterGraef 0:f9b6112278fe 44 } else {
DieterGraef 0:f9b6112278fe 45 _thread_def.stack_pointer = new uint32_t[stack_size/sizeof(uint32_t)];
DieterGraef 0:f9b6112278fe 46 if (_thread_def.stack_pointer == NULL)
DieterGraef 0:f9b6112278fe 47 error("Error allocating the stack memory\n");
DieterGraef 0:f9b6112278fe 48 _dynamic_stack = true;
DieterGraef 0:f9b6112278fe 49 }
DieterGraef 0:f9b6112278fe 50
DieterGraef 0:f9b6112278fe 51 //Fill the stack with a magic word for maximum usage checking
DieterGraef 0:f9b6112278fe 52 for (uint32_t i = 0; i < (stack_size / sizeof(uint32_t)); i++) {
DieterGraef 0:f9b6112278fe 53 _thread_def.stack_pointer[i] = 0xE25A2EA5;
DieterGraef 0:f9b6112278fe 54 }
DieterGraef 0:f9b6112278fe 55 #endif
DieterGraef 0:f9b6112278fe 56 _tid = osThreadCreate(&_thread_def, argument);
DieterGraef 0:f9b6112278fe 57 }
DieterGraef 0:f9b6112278fe 58
DieterGraef 0:f9b6112278fe 59 osStatus Thread::terminate() {
DieterGraef 0:f9b6112278fe 60 return osThreadTerminate(_tid);
DieterGraef 0:f9b6112278fe 61 }
DieterGraef 0:f9b6112278fe 62
DieterGraef 0:f9b6112278fe 63 osStatus Thread::set_priority(osPriority priority) {
DieterGraef 0:f9b6112278fe 64 return osThreadSetPriority(_tid, priority);
DieterGraef 0:f9b6112278fe 65 }
DieterGraef 0:f9b6112278fe 66
DieterGraef 0:f9b6112278fe 67 osPriority Thread::get_priority() {
DieterGraef 0:f9b6112278fe 68 return osThreadGetPriority(_tid);
DieterGraef 0:f9b6112278fe 69 }
DieterGraef 0:f9b6112278fe 70
DieterGraef 0:f9b6112278fe 71 int32_t Thread::signal_set(int32_t signals) {
DieterGraef 0:f9b6112278fe 72 return osSignalSet(_tid, signals);
DieterGraef 0:f9b6112278fe 73 }
DieterGraef 0:f9b6112278fe 74
DieterGraef 0:f9b6112278fe 75 int32_t Thread::signal_clr(int32_t signals) {
DieterGraef 0:f9b6112278fe 76 return osSignalClear(_tid, signals);
DieterGraef 0:f9b6112278fe 77 }
DieterGraef 0:f9b6112278fe 78
DieterGraef 0:f9b6112278fe 79 Thread::State Thread::get_state() {
DieterGraef 0:f9b6112278fe 80 #if !defined(__MBED_CMSIS_RTOS_CA9) && !defined(__MBED_CMSIS_RTOS_CM)
DieterGraef 0:f9b6112278fe 81 #ifdef CMSIS_OS_RTX
DieterGraef 0:f9b6112278fe 82 return ((State)_thread_def.tcb.state);
DieterGraef 0:f9b6112278fe 83 #endif
DieterGraef 0:f9b6112278fe 84 #else
DieterGraef 0:f9b6112278fe 85 uint8_t status;
DieterGraef 0:f9b6112278fe 86 status = osThreadGetState(_tid);
DieterGraef 0:f9b6112278fe 87 return ((State)status);
DieterGraef 0:f9b6112278fe 88 #endif
DieterGraef 0:f9b6112278fe 89 }
DieterGraef 0:f9b6112278fe 90
DieterGraef 0:f9b6112278fe 91 uint32_t Thread::stack_size() {
DieterGraef 0:f9b6112278fe 92 #ifndef __MBED_CMSIS_RTOS_CA9
DieterGraef 0:f9b6112278fe 93 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
DieterGraef 0:f9b6112278fe 94 return _thread_def.tcb.priv_stack;
DieterGraef 0:f9b6112278fe 95 #else
DieterGraef 0:f9b6112278fe 96 P_TCB tcb = rt_tid2ptcb(_tid);
DieterGraef 0:f9b6112278fe 97 return tcb->priv_stack;
DieterGraef 0:f9b6112278fe 98 #endif
DieterGraef 0:f9b6112278fe 99 #else
DieterGraef 0:f9b6112278fe 100 return 0;
DieterGraef 0:f9b6112278fe 101 #endif
DieterGraef 0:f9b6112278fe 102 }
DieterGraef 0:f9b6112278fe 103
DieterGraef 0:f9b6112278fe 104 uint32_t Thread::free_stack() {
DieterGraef 0:f9b6112278fe 105 #ifndef __MBED_CMSIS_RTOS_CA9
DieterGraef 0:f9b6112278fe 106 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
DieterGraef 0:f9b6112278fe 107 uint32_t bottom = (uint32_t)_thread_def.tcb.stack;
DieterGraef 0:f9b6112278fe 108 return _thread_def.tcb.tsk_stack - bottom;
DieterGraef 0:f9b6112278fe 109 #else
DieterGraef 0:f9b6112278fe 110 P_TCB tcb = rt_tid2ptcb(_tid);
DieterGraef 0:f9b6112278fe 111 uint32_t bottom = (uint32_t)tcb->stack;
DieterGraef 0:f9b6112278fe 112 return tcb->tsk_stack - bottom;
DieterGraef 0:f9b6112278fe 113 #endif
DieterGraef 0:f9b6112278fe 114 #else
DieterGraef 0:f9b6112278fe 115 return 0;
DieterGraef 0:f9b6112278fe 116 #endif
DieterGraef 0:f9b6112278fe 117 }
DieterGraef 0:f9b6112278fe 118
DieterGraef 0:f9b6112278fe 119 uint32_t Thread::used_stack() {
DieterGraef 0:f9b6112278fe 120 #ifndef __MBED_CMSIS_RTOS_CA9
DieterGraef 0:f9b6112278fe 121 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
DieterGraef 0:f9b6112278fe 122 uint32_t top = (uint32_t)_thread_def.tcb.stack + _thread_def.tcb.priv_stack;
DieterGraef 0:f9b6112278fe 123 return top - _thread_def.tcb.tsk_stack;
DieterGraef 0:f9b6112278fe 124 #else
DieterGraef 0:f9b6112278fe 125 P_TCB tcb = rt_tid2ptcb(_tid);
DieterGraef 0:f9b6112278fe 126 uint32_t top = (uint32_t)tcb->stack + tcb->priv_stack;
DieterGraef 0:f9b6112278fe 127 return top - tcb->tsk_stack;
DieterGraef 0:f9b6112278fe 128 #endif
DieterGraef 0:f9b6112278fe 129 #else
DieterGraef 0:f9b6112278fe 130 return 0;
DieterGraef 0:f9b6112278fe 131 #endif
DieterGraef 0:f9b6112278fe 132 }
DieterGraef 0:f9b6112278fe 133
DieterGraef 0:f9b6112278fe 134 uint32_t Thread::max_stack() {
DieterGraef 0:f9b6112278fe 135 #ifndef __MBED_CMSIS_RTOS_CA9
DieterGraef 0:f9b6112278fe 136 #if defined(CMSIS_OS_RTX) && !defined(__MBED_CMSIS_RTOS_CM)
DieterGraef 0:f9b6112278fe 137 uint32_t high_mark = 0;
DieterGraef 0:f9b6112278fe 138 while (_thread_def.tcb.stack[high_mark] == 0xE25A2EA5)
DieterGraef 0:f9b6112278fe 139 high_mark++;
DieterGraef 0:f9b6112278fe 140 return _thread_def.tcb.priv_stack - (high_mark * 4);
DieterGraef 0:f9b6112278fe 141 #else
DieterGraef 0:f9b6112278fe 142 P_TCB tcb = rt_tid2ptcb(_tid);
DieterGraef 0:f9b6112278fe 143 uint32_t high_mark = 0;
DieterGraef 0:f9b6112278fe 144 while (tcb->stack[high_mark] == 0xE25A2EA5)
DieterGraef 0:f9b6112278fe 145 high_mark++;
DieterGraef 0:f9b6112278fe 146 return tcb->priv_stack - (high_mark * 4);
DieterGraef 0:f9b6112278fe 147 #endif
DieterGraef 0:f9b6112278fe 148 #else
DieterGraef 0:f9b6112278fe 149 return 0;
DieterGraef 0:f9b6112278fe 150 #endif
DieterGraef 0:f9b6112278fe 151 }
DieterGraef 0:f9b6112278fe 152
DieterGraef 0:f9b6112278fe 153 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
DieterGraef 0:f9b6112278fe 154 return osSignalWait(signals, millisec);
DieterGraef 0:f9b6112278fe 155 }
DieterGraef 0:f9b6112278fe 156
DieterGraef 0:f9b6112278fe 157 osStatus Thread::wait(uint32_t millisec) {
DieterGraef 0:f9b6112278fe 158 return osDelay(millisec);
DieterGraef 0:f9b6112278fe 159 }
DieterGraef 0:f9b6112278fe 160
DieterGraef 0:f9b6112278fe 161 osStatus Thread::yield() {
DieterGraef 0:f9b6112278fe 162 return osThreadYield();
DieterGraef 0:f9b6112278fe 163 }
DieterGraef 0:f9b6112278fe 164
DieterGraef 0:f9b6112278fe 165 osThreadId Thread::gettid() {
DieterGraef 0:f9b6112278fe 166 return osThreadGetId();
DieterGraef 0:f9b6112278fe 167 }
DieterGraef 0:f9b6112278fe 168
DieterGraef 0:f9b6112278fe 169 void Thread::attach_idle_hook(void (*fptr)(void)) {
DieterGraef 0:f9b6112278fe 170 rtos_attach_idle_hook(fptr);
DieterGraef 0:f9b6112278fe 171 }
DieterGraef 0:f9b6112278fe 172
DieterGraef 0:f9b6112278fe 173 Thread::~Thread() {
DieterGraef 0:f9b6112278fe 174 terminate();
DieterGraef 0:f9b6112278fe 175 #ifdef __MBED_CMSIS_RTOS_CM
DieterGraef 0:f9b6112278fe 176 if (_dynamic_stack) {
DieterGraef 0:f9b6112278fe 177 delete[] (_thread_def.stack_pointer);
DieterGraef 0:f9b6112278fe 178 }
DieterGraef 0:f9b6112278fe 179 #endif
DieterGraef 0:f9b6112278fe 180 }
DieterGraef 0:f9b6112278fe 181
DieterGraef 0:f9b6112278fe 182 }