/*
* Copyright (c) 2018 Intel Corporation
*
* SPDX-License-Identifier: Apache-2.0
*/
#include <kernel.h>
#include <sys/atomic.h>
#include <cmsis_os.h>
#define TOTAL_CMSIS_THREAD_PRIORITIES (osPriorityRealtime - osPriorityIdle + 1)
static inline int _is_thread_cmsis_inactive(struct k_thread *thread)
{
u8_t state = thread->base.thread_state;
return state & (_THREAD_PRESTART | _THREAD_DEAD);
}
static inline s32_t zephyr_to_cmsis_priority(u32_t z_prio)
{
return(osPriorityRealtime - z_prio);
}
static inline u32_t cmsis_to_zephyr_priority(s32_t c_prio)
{
return(osPriorityRealtime - c_prio);
}
static void zephyr_thread_wrapper(void *arg1, void *arg2, void *arg3)
{
void * (*fun_ptr)(void *) = arg3;
fun_ptr(arg1);
}
/**
* @brief Create a new thread.
*/
osThreadId osThreadCreate(const osThreadDef_t *thread_def, void *arg)
{
struct k_thread *cm_thread;
u32_t prio;
k_tid_t tid;
u32_t stacksz;
k_thread_stack_t
(*stk_ptr)[K_THREAD_STACK_LEN(CONFIG_CMSIS_THREAD_MAX_STACK_SIZE)];
if ((thread_def == NULL) || (thread_def->instances == 0)) {
return NULL;
}
BUILD_ASSERT_MSG(
CONFIG_NUM_PREEMPT_PRIORITIES >= TOTAL_CMSIS_THREAD_PRIORITIES,
"Configure NUM_PREEMPT_PRIORITIES to at least"
" TOTAL_CMSIS_THREAD_PRIORITIES");
__ASSERT(thread_def->stacksize <= CONFIG_CMSIS_THREAD_MAX_STACK_SIZE,
"invalid stack size\n");
if (k_is_in_isr()) {
return NULL;
}
__ASSERT((thread_def->tpriority >= osPriorityIdle) &&
(thread_def->tpriority <= osPriorityRealtime),
"invalid priority\n");
stacksz = thread_def->stacksize;
if (stacksz == 0U) {
stacksz = CONFIG_CMSIS_THREAD_MAX_STACK_SIZE;
}
k_poll_signal_init(thread_def->poll_signal);
k_poll_event_init(thread_def->poll_event, K_POLL_TYPE_SIGNAL,
K_POLL_MODE_NOTIFY_ONLY, thread_def->poll_signal);
cm_thread = thread_def->cm_thread;
atomic_dec((atomic_t *)&thread_def->instances);
stk_ptr = thread_def->stack_mem;
prio = cmsis_to_zephyr_priority(thread_def->tpriority);
k_thread_custom_data_set((void *)thread_def);
tid = k_thread_create(&cm_thread[thread_def->instances],
stk_ptr[thread_def->instances], stacksz,
(k_thread_entry_t)zephyr_thread_wrapper,
(void *)arg, NULL, thread_def->pthread,
prio, 0, K_NO_WAIT);
return ((osThreadId)tid);
}
/**
* @brief Return the thread ID of the current running thread.
*/
osThreadId osThreadGetId(void)
{
if (k_is_in_isr()) {
return NULL;
}
return (osThreadId)k_current_get();
}
/**
* @brief Get current priority of an active thread.
*/
osPriority osThreadGetPriority(osThreadId thread_id)
{
k_tid_t thread = (k_tid_t)thread_id;
u32_t priority;
if ((thread_id == NULL) || (k_is_in_isr())) {
return osPriorityError;
}
priority = k_thread_priority_get(thread);
return zephyr_to_cmsis_priority(priority);
}
/**
* @brief Change priority of an active thread.
*/
osStatus osThreadSetPriority(osThreadId thread_id, osPriority priority)
{
if (thread_id == NULL) {
return osErrorParameter;
}
if (k_is_in_isr()) {
return osErrorISR;
}
if (priority < osPriorityIdle || priority > osPriorityRealtime) {
return osErrorValue;
}
if (_is_thread_cmsis_inactive((k_tid_t)thread_id)) {
return osErrorResource;
}
k_thread_priority_set((k_tid_t)thread_id,
cmsis_to_zephyr_priority(priority));
return osOK;
}
/**
* @brief Terminate execution of a thread.
*/
osStatus osThreadTerminate(osThreadId thread_id)
{
if (thread_id == NULL) {
return osErrorParameter;
}
if (k_is_in_isr()) {
return osErrorISR;
}
if (_is_thread_cmsis_inactive((k_tid_t)thread_id)) {
return osErrorResource;
}
k_thread_abort((k_tid_t)thread_id);
return osOK;
}
/**
* @brief Pass control to next thread that is in READY state.
*/
osStatus osThreadYield(void)
{
if (k_is_in_isr()) {
return osErrorISR;
}
k_yield();
return osOK;
}