k_tid_t k_thread_spawn(char *stack, size_t stack_size,
void (*entry)(void *, void *, void*),
void *p1, void *p2, void *p3,
int prio, u32_t options, s32_t delay)
{
__ASSERT(!_is_in_isr(), "");
struct k_thread *new_thread = (struct k_thread *)stack;
_new_thread(stack, stack_size, entry, p1, p2, p3, prio, options);
schedule_new_thread(new_thread, delay);
return new_thread;
}
void _init_static_threads(void)
{
unsigned int key;
_FOREACH_STATIC_THREAD(thread_data) {
_task_group_adjust(thread_data);
_new_thread(
thread_data->init_stack,
thread_data->init_stack_size,
thread_data->init_entry,
thread_data->init_p1,
thread_data->init_p2,
thread_data->init_p3,
thread_data->init_prio,
thread_data->init_options);
thread_data->thread->init_data = thread_data;
}
_sched_lock();
/* Start all (legacy) threads that are part of the EXE task group */
_k_thread_group_op(K_TASK_GROUP_EXE, _k_thread_single_start);
/*
* Non-legacy static threads may be started immediately or after a
* previously specified delay. Even though the scheduler is locked,
* ticks can still be delivered and processed. Lock interrupts so
* that the countdown until execution begins from the same tick.
*
* Note that static threads defined using the legacy API have a
* delay of K_FOREVER.
*/
key = irq_lock();
_FOREACH_STATIC_THREAD(thread_data) {
if (thread_data->init_delay != K_FOREVER) {
schedule_new_thread(thread_data->thread,
thread_data->init_delay);
}
}
irq_unlock(key);
k_sched_unlock();
}
