Add ThisThread

Author: kjbracey

TESTS/mbedmicro-rtos-mbed/threads/main.cpp

@@ -23,6 +23,8 @@
 #include "rtos/Kernel.h"
 
 #include "mbed.h"
+#include "rtos/rtos_idle.h"
+#include "rtos/rtos_handlers.h"
 
 namespace rtos {
 
@@ -61,4 +63,14 @@ uint64_t Kernel::get_ms_count()
     }
 }
 
+void Kernel::attach_idle_hook(void (*fptr)(void))
+{
+    rtos_attach_idle_hook(fptr);
+}
+
+void Kernel::attach_thread_terminate_hook(void (*fptr)(osThreadId_t id))
+{
+    rtos_attach_thread_terminate_hook(fptr);
+}
+
 }

rtos/Kernel.cpp

@@ -23,6 +23,7 @@
 #define KERNEL_H
 
 #include <stdint.h>
+#include "cmsis_os2.h"
 
 namespace rtos {
 /** \addtogroup rtos */
@@ -43,6 +44,20 @@ namespace Kernel {
  */
 uint64_t get_ms_count();
 
+/** Attach a function to be called by the RTOS idle task
+  @param   fptr  pointer to the function to be called
+
+  @note You may call this function from ISR context.
+*/
+void attach_idle_hook(void (*fptr)(void));
+
+/** Attach a function to be called when a task is killed
+  @param   fptr  pointer to the function to be called
+
+  @note You may call this function from ISR context.
+*/
+void attach_thread_terminate_hook(void (*fptr)(osThreadId_t id));
+
 } // namespace Kernel
 
 } // namespace rtos

rtos/Kernel.h

@@ -21,6 +21,7 @@
 #include "mbed_error.h"
 #include "mbed_interface.h"
 #include "RTX_Config.h"
+#include "rtos/rtos_handlers.h"
 
 #ifdef RTE_Compiler_EventRecorder
 #include "EventRecorder.h"              // Keil::Compiler:Event Recorder
@@ -30,7 +31,20 @@
 #endif
 
 extern void rtos_idle_loop(void);
-extern void thread_terminate_hook(osThreadId_t id);
+
+static void (*terminate_hook)(osThreadId_t id);
+
+static void thread_terminate_hook(osThreadId_t id)
+{
+    if (terminate_hook) {
+        terminate_hook(id);
+    }
+}
+
+void rtos_attach_thread_terminate_hook(void (*fptr)(osThreadId_t id))
+{
+    terminate_hook = fptr;
+}
 
 __NO_RETURN void osRtxIdleThread(void *argument)
 {

rtos/TARGET_CORTEX/mbed_rtx_handlers.c

@@ -0,0 +1,141 @@
+/* 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.
+ */
+
+#define __STDC_LIMIT_MACROS
+#include "rtos/ThisThread.h"
+
+#include "mbed.h"
+#include "rtos/rtos_idle.h"
+#include "mbed_assert.h"
+
+namespace rtos {
+
+uint32_t ThisThread::flags_clear(uint32_t flags)
+{
+    flags = osThreadFlagsClear(flags);
+    MBED_ASSERT(!(flags & osFlagsError));
+    return flags;
+}
+
+uint32_t ThisThread::flags_get()
+{
+    return osThreadFlagsGet();
+}
+
+static uint32_t flags_wait_for(uint32_t flags, uint32_t millisec, bool clear, uint32_t options)
+{
+    if (!clear) {
+        options |= osFlagsNoClear;
+    }
+    flags = osThreadFlagsWait(flags, options, millisec);
+    if (flags & osFlagsError) {
+        MBED_ASSERT((flags == osFlagsErrorTimeout && millisec != osWaitForever) ||
+                    (flags == osFlagsErrorResource && millisec == 0));
+        flags = ThisThread::flags_get();
+    }
+
+    return flags;
+}
+
+static uint32_t flags_wait_until(uint32_t flags, uint64_t millisec, bool clear, uint32_t options)
+{
+    uint64_t now = Kernel::get_ms_count();
+
+    uint32_t delay;
+    if (now >= millisec) {
+        delay = 0;
+    } else if (millisec - now >= osWaitForever) {
+        // Documentation permits early return for big offsets
+        delay = osWaitForever - 1;
+    } else {
+        delay = millisec - now;
+    }
+    return flags_wait_for(flags, delay, clear, options);
+}
+
+uint32_t ThisThread::flags_wait_all(uint32_t flags, bool clear)
+{
+    return flags_wait_for(flags, osWaitForever, clear, osFlagsWaitAll);
+}
+
+uint32_t ThisThread::flags_wait_all_for(uint32_t flags, uint32_t millisec, bool clear)
+{
+    return flags_wait_for(flags, millisec, clear, osFlagsWaitAll);
+}
+
+uint32_t ThisThread::flags_wait_all_until(uint32_t flags, uint64_t millisec, bool clear)
+{
+    return flags_wait_until(flags, millisec, clear, osFlagsWaitAll);
+}
+
+uint32_t ThisThread::flags_wait_any(uint32_t flags, bool clear)
+{
+    return flags_wait_for(flags, osWaitForever, clear, osFlagsWaitAny);
+}
+
+uint32_t ThisThread::flags_wait_any_for(uint32_t flags, uint32_t millisec, bool clear)
+{
+    return flags_wait_for(flags, millisec, clear, osFlagsWaitAny);
+}
+
+uint32_t ThisThread::flags_wait_any_until(uint32_t flags, uint64_t millisec, bool clear)
+{
+    return flags_wait_until(flags, millisec, clear, osFlagsWaitAny);
+}
+
+void ThisThread::sleep_for(uint32_t millisec)
+{
+    osStatus_t status = osDelay(millisec);
+    MBED_ASSERT(status == osOK);
+}
+
+void ThisThread::sleep_until(uint64_t millisec)
+{
+    // CMSIS-RTOS 2.1.0 had 64-bit time and osDelayUntil, but that's been revoked.
+    // Limit ourselves to manual implementation assuming a >=32-bit osDelay.
+
+    // 64-bit time doesn't wrap (for half a billion years, at last)
+    // make the effort to loop for unlimited sleep, as it doesn't cost much
+    uint64_t now;
+
+    while ((now = Kernel::get_ms_count()) < millisec) {
+        if (millisec - now > UINT32_MAX) {
+            sleep_for(UINT32_MAX);
+            continue;
+        } else {
+            sleep_for(millisec - now);
+            break;
+        }
+    }
+}
+
+void ThisThread::yield()
+{
+    osThreadYield();
+}
+
+osThreadId_t ThisThread::get_id()
+{
+    return osThreadGetId();
+}
+
+}