/// Create a thread and add it to Active Threads and set it to state READY.
/// \param[in] thread_def thread definition referenced with \ref osThread.
/// \param[in] argument pointer that is passed to the thread function as start argument.
/// \return thread ID for reference by other functions or NULL in case of error.
/// \note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument)
{
// (void) argument;
xTaskHandle handle;
BaseType_t result;
result = xTaskCreate((pdTASK_CODE)thread_def->pthread,
(const portCHAR *)thread_def->name,
(thread_def->stacksize/4),
argument,
makeFreeRtosPriority(thread_def->tpriority),
&handle);
if (pdPASS == result) {
#if configSignalManagementSupport
EventGroupHandle_t signals;
signals = xEventGroupCreate();
if (signals == NULL) {
/* The event group was not created because there was insufficient
FreeRTOS heap available. */
CMSIS_OS_ERR("Create a EventGroup for a new thread failed\n");
}
else
{
add_thread_signal_map(handle, signals);
}
#endif
}
else
{
CMSIS_OS_ERR("Create a new thread(%s) failed\r\n", thread_def->name);
}
return handle;
}
/**
* @brief Change priority of an active thread.
* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
* @param priority new priority value for the thread function.
* @retval status code that indicates the execution status of the function.
* @note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
*/
osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority)
{
#if (INCLUDE_vTaskPrioritySet == 1)
vTaskPrioritySet(thread_id, makeFreeRtosPriority(priority));
return osOK;
#else
return osErrorOS;
#endif
}
/**
* @brief Create a thread and add it to Active Threads and set it to state READY.
* @param thread_def thread definition referenced with \ref osThread.
* @param argument pointer that is passed to the thread function as start argument.
* @retval thread ID for reference by other functions or NULL in case of error.
* @note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
*/
osThreadId osThreadCreate (const osThreadDef_t *thread_def, void *argument)
{
TaskHandle_t handle;
if (xTaskCreate((TaskFunction_t)thread_def->pthread,(const portCHAR *)thread_def->name,
thread_def->stacksize, argument, makeFreeRtosPriority(thread_def->tpriority),
&handle) != pdPASS) {
return NULL;
}
return handle;
}
/**
* @brief Create a thread and add it to Active Threads and set it to state READY.
* @param thread_def thread definition referenced with \ref osThread.
* @param argument pointer that is passed to the thread function as start argument.
* @retval thread ID for reference by other functions or NULL in case of error.
* @note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
*/
osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument)
{
xTaskHandle handle;
xTaskCreate((pdTASK_CODE)thread_def->pthread,
(const signed portCHAR *)thread_def->name,
thread_def->stacksize,
argument,
makeFreeRtosPriority(thread_def->tpriority),
&handle);
return handle;
}
/**
* @brief Create a thread and add it to Active Threads and set it to state READY.
* @param thread_def thread definition referenced with \ref osThread.
* @param argument pointer that is passed to the thread function as start argument.
* @retval thread ID for reference by other functions or NULL in case of error.
* @note MUST REMAIN UNCHANGED: \b osThreadCreate shall be consistent in every CMSIS-RTOS.
*/
osThreadId osThreadCreate (osThreadDef_t *thread_def, void *argument)
{
xTaskHandle handle;
// BaseType_t xTaskGenericCreate( TaskFunction_t pxTaskCode,
// const char * const pcName,
// const uint16_t usStackDepth,
// void * const pvParameters,
// UBaseType_t uxPriority,
// TaskHandle_t * const pxCreatedTask,
// StackType_t * const puxStackBuffer,
// const MemoryRegion_t * const xRegions ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
xTaskCreate((TaskFunction_t)thread_def->pthread,
(const portCHAR *)thread_def->name,
thread_def->stacksize,
argument,
makeFreeRtosPriority(thread_def->tpriority),
&handle);
return handle;
}
/**
* @brief Change priority of an active thread.
* @param thread_id thread ID obtained by \ref osThreadCreate or \ref osThreadGetId.
* @param priority new priority value for the thread function.
* @retval status code that indicates the execution status of the function.
* @note MUST REMAIN UNCHANGED: \b osThreadSetPriority shall be consistent in every CMSIS-RTOS.
*/
osStatus osThreadSetPriority (osThreadId thread_id, osPriority priority)
{
vTaskPrioritySet(thread_id, makeFreeRtosPriority(priority));
return osOK;
}