Dave Lu / FYDP_Final2

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mbed/mbed-rtos/rtos/Thread.cpp@0:21019d94ad33, 2015-03-21 (annotated)

Committer:
majik
Date:
Sat Mar 21 21:31:29 2015 +0000
Revision:
0:21019d94ad33
Both IMUs work now

Who changed what in which revision?

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majik 0:21019d94ad33 1 /* mbed Microcontroller Library
majik 0:21019d94ad33 2 * Copyright (c) 2006-2012 ARM Limited
majik 0:21019d94ad33 3 *
majik 0:21019d94ad33 4 * Permission is hereby granted, free of charge, to any person obtaining a copy
majik 0:21019d94ad33 5 * of this software and associated documentation files (the "Software"), to deal
majik 0:21019d94ad33 6 * in the Software without restriction, including without limitation the rights
majik 0:21019d94ad33 7 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
majik 0:21019d94ad33 8 * copies of the Software, and to permit persons to whom the Software is
majik 0:21019d94ad33 9 * furnished to do so, subject to the following conditions:
majik 0:21019d94ad33 10 *
majik 0:21019d94ad33 11 * The above copyright notice and this permission notice shall be included in
majik 0:21019d94ad33 12 * all copies or substantial portions of the Software.
majik 0:21019d94ad33 13 *
majik 0:21019d94ad33 14 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
majik 0:21019d94ad33 15 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
majik 0:21019d94ad33 16 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
majik 0:21019d94ad33 17 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
majik 0:21019d94ad33 18 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
majik 0:21019d94ad33 19 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
majik 0:21019d94ad33 20 * SOFTWARE.
majik 0:21019d94ad33 21 */
majik 0:21019d94ad33 22 #include "Thread.h"
majik 0:21019d94ad33 23
majik 0:21019d94ad33 24 #include "error.h"
majik 0:21019d94ad33 25
majik 0:21019d94ad33 26 namespace rtos {
majik 0:21019d94ad33 27
majik 0:21019d94ad33 28 Thread::Thread(void (*task)(void const *argument), void *argument,
majik 0:21019d94ad33 29 osPriority priority, uint32_t stack_size, unsigned char *stack_pointer) {
majik 0:21019d94ad33 30 #ifdef CMSIS_OS_RTX
majik 0:21019d94ad33 31 _thread_def.pthread = task;
majik 0:21019d94ad33 32 _thread_def.tpriority = priority;
majik 0:21019d94ad33 33 _thread_def.stacksize = stack_size;
majik 0:21019d94ad33 34 if (stack_pointer != NULL) {
majik 0:21019d94ad33 35 _thread_def.stack_pointer = stack_pointer;
majik 0:21019d94ad33 36 _dynamic_stack = false;
majik 0:21019d94ad33 37 } else {
majik 0:21019d94ad33 38 _thread_def.stack_pointer = new unsigned char[stack_size];
majik 0:21019d94ad33 39 if (_thread_def.stack_pointer == NULL)
majik 0:21019d94ad33 40 error("Error allocating the stack memory\n");
majik 0:21019d94ad33 41 _dynamic_stack = true;
majik 0:21019d94ad33 42 }
majik 0:21019d94ad33 43 #endif
majik 0:21019d94ad33 44 _tid = osThreadCreate(&_thread_def, argument);
majik 0:21019d94ad33 45 }
majik 0:21019d94ad33 46
majik 0:21019d94ad33 47 osStatus Thread::terminate() {
majik 0:21019d94ad33 48 return osThreadTerminate(_tid);
majik 0:21019d94ad33 49 }
majik 0:21019d94ad33 50
majik 0:21019d94ad33 51 osStatus Thread::set_priority(osPriority priority) {
majik 0:21019d94ad33 52 return osThreadSetPriority(_tid, priority);
majik 0:21019d94ad33 53 }
majik 0:21019d94ad33 54
majik 0:21019d94ad33 55 osPriority Thread::get_priority() {
majik 0:21019d94ad33 56 return osThreadGetPriority(_tid);
majik 0:21019d94ad33 57 }
majik 0:21019d94ad33 58
majik 0:21019d94ad33 59 int32_t Thread::signal_set(int32_t signals) {
majik 0:21019d94ad33 60 return osSignalSet(_tid, signals);
majik 0:21019d94ad33 61 }
majik 0:21019d94ad33 62
majik 0:21019d94ad33 63 Thread::State Thread::get_state() {
majik 0:21019d94ad33 64 return ((State)_thread_def.tcb.state);
majik 0:21019d94ad33 65 }
majik 0:21019d94ad33 66
majik 0:21019d94ad33 67 osEvent Thread::signal_wait(int32_t signals, uint32_t millisec) {
majik 0:21019d94ad33 68 return osSignalWait(signals, millisec);
majik 0:21019d94ad33 69 }
majik 0:21019d94ad33 70
majik 0:21019d94ad33 71 osStatus Thread::wait(uint32_t millisec) {
majik 0:21019d94ad33 72 return osDelay(millisec);
majik 0:21019d94ad33 73 }
majik 0:21019d94ad33 74
majik 0:21019d94ad33 75 osStatus Thread::yield() {
majik 0:21019d94ad33 76 return osThreadYield();
majik 0:21019d94ad33 77 }
majik 0:21019d94ad33 78
majik 0:21019d94ad33 79 osThreadId Thread::gettid() {
majik 0:21019d94ad33 80 return osThreadGetId();
majik 0:21019d94ad33 81 }
majik 0:21019d94ad33 82
majik 0:21019d94ad33 83 Thread::~Thread() {
majik 0:21019d94ad33 84 terminate();
majik 0:21019d94ad33 85 if (_dynamic_stack) {
majik 0:21019d94ad33 86 delete[] (_thread_def.stack_pointer);
majik 0:21019d94ad33 87 }
majik 0:21019d94ad33 88 }
majik 0:21019d94ad33 89
majik 0:21019d94ad33 90 }