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  108. 

  109. <div class="header">
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  111. <a href="#define-members">Macros</a> &#124;
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  112. <a href="#enum-members">Enumerations</a> &#124;
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  113. <a href="#func-members">Functions</a>  </div>
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  114.   <div class="headertitle">
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  115. <div class="title">Thread Management<div class="ingroups"><a class="el" href="group__CMSIS__RTOS.html">CMSIS-RTOS API</a></div></div>  </div>
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  117. <div class="contents">
    118. 

  118. 

  119. <p>Define, create, and control thread functions.  
    120. 

  120. <a href="#details">More...</a></p>
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  121. <table class="memberdecls">
    122. 

  122. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
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  123. Macros</h2></td></tr>
    124. 

  124. <tr class="memitem:gaee93d929beb350f16e5cc7fa602e229f"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaee93d929beb350f16e5cc7fa602e229f">osThreadDef</a>(name, priority, instances, stacksz)</td></tr>
    125. 

  125. <tr class="memdesc:gaee93d929beb350f16e5cc7fa602e229f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a Thread Definition with function, priority, and stack requirements.  <a href="#gaee93d929beb350f16e5cc7fa602e229f">More...</a><br/></td></tr>
    126. 

  126. <tr class="separator:gaee93d929beb350f16e5cc7fa602e229f"><td class="memSeparator" colspan="2">&#160;</td></tr>
    127. 

  127. <tr class="memitem:gaf0c7c6b5e09f8be198312144b5c9e453"><td class="memItemLeft" align="right" valign="top">#define&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf0c7c6b5e09f8be198312144b5c9e453">osThread</a>(name)&#160;&#160;&#160;&amp;os_thread_def_##name</td></tr>
    128. 

  128. <tr class="memdesc:gaf0c7c6b5e09f8be198312144b5c9e453"><td class="mdescLeft">&#160;</td><td class="mdescRight">Access a Thread definition.  <a href="#gaf0c7c6b5e09f8be198312144b5c9e453">More...</a><br/></td></tr>
    129. 

  129. <tr class="separator:gaf0c7c6b5e09f8be198312144b5c9e453"><td class="memSeparator" colspan="2">&#160;</td></tr>
    130. 

  130. </table><table class="memberdecls">
    131. 

  131. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
    132. 

  132. Enumerations</h2></td></tr>
    133. 

  133. <tr class="memitem:ga7f2b42f1983b9107775ec2a1c69a849a"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> { <br/>
    134. 

  134. &#160;&#160;<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa549e79a43ff4f8b2b31afb613f5caa81">osPriorityIdle</a> = -3, 
    135. 

  135. <br/>
    136. 

  136. &#160;&#160;<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa61cb822239ac8f66dfbdc7291598a3d4">osPriorityLow</a> = -2, 
    137. 

  137. <br/>
    138. 

  138. &#160;&#160;<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa193b650117c209b4a203954542bcc3e6">osPriorityBelowNormal</a> = -1, 
    139. 

  139. <br/>
    140. 

  140. &#160;&#160;<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa45a2895ad30c79fb97de18cac7cc19f1">osPriorityNormal</a> = 0, 
    141. 

  141. <br/>
    142. 

  142. &#160;&#160;<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa17b36cd9cd38652c2bc6d4803990674b">osPriorityAboveNormal</a> = +1, 
    143. 

  143. <br/>
    144. 

  144. &#160;&#160;<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa914433934143a9ba767e59577c56e6c2">osPriorityHigh</a> = +2, 
    145. 

  145. <br/>
    146. 

  146. &#160;&#160;<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa1485dec3702434a1ec3cb74c7a17a4af">osPriorityRealtime</a> = +3, 
    147. 

  147. <br/>
    148. 

  148. &#160;&#160;<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aae35f5e2f9c64ad346822521b643bdea4">osPriorityError</a> = 0x84
    149. 

  149. <br/>
    150. 

  150.  }</td></tr>
    151. 

  151. <tr class="memdesc:ga7f2b42f1983b9107775ec2a1c69a849a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Priority used for thread control.  <a href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">More...</a><br/></td></tr>
    152. 

  152. <tr class="separator:ga7f2b42f1983b9107775ec2a1c69a849a"><td class="memSeparator" colspan="2">&#160;</td></tr>
    153. 

  153. </table><table class="memberdecls">
    154. 

  154. <tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
    155. 

  155. Functions</h2></td></tr>
    156. 

  156. <tr class="memitem:gac59b5713cb083702dce759c73fd90dff"><td class="memItemLeft" align="right" valign="top"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a> (const <a class="el" href="cmsis__os_8h.html#structosThreadDef__t">osThreadDef_t</a> *thread_def, void *argument)</td></tr>
    157. 

  157. <tr class="memdesc:gac59b5713cb083702dce759c73fd90dff"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a thread and add it to Active Threads and set it to state READY.  <a href="#gac59b5713cb083702dce759c73fd90dff">More...</a><br/></td></tr>
    158. 

  158. <tr class="separator:gac59b5713cb083702dce759c73fd90dff"><td class="memSeparator" colspan="2">&#160;</td></tr>
    159. 

  159. <tr class="memitem:gab1df2a28925862ef8f9cf4e1c995c5a7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gab1df2a28925862ef8f9cf4e1c995c5a7">osThreadGetId</a> (void)</td></tr>
    160. 

  160. <tr class="memdesc:gab1df2a28925862ef8f9cf4e1c995c5a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the thread ID of the current running thread.  <a href="#gab1df2a28925862ef8f9cf4e1c995c5a7">More...</a><br/></td></tr>
    161. 

  161. <tr class="separator:gab1df2a28925862ef8f9cf4e1c995c5a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
    162. 

  162. <tr class="memitem:gaea135bb90eb853eff39e0800b91bbeab"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaea135bb90eb853eff39e0800b91bbeab">osThreadTerminate</a> (<a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> thread_id)</td></tr>
    163. 

  163. <tr class="memdesc:gaea135bb90eb853eff39e0800b91bbeab"><td class="mdescLeft">&#160;</td><td class="mdescRight">Terminate execution of a thread and remove it from Active Threads.  <a href="#gaea135bb90eb853eff39e0800b91bbeab">More...</a><br/></td></tr>
    164. 

  164. <tr class="separator:gaea135bb90eb853eff39e0800b91bbeab"><td class="memSeparator" colspan="2">&#160;</td></tr>
    165. 

  165. <tr class="memitem:ga0dfb90ccf1f6e4b54b9251b12d1cbc8b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga0dfb90ccf1f6e4b54b9251b12d1cbc8b">osThreadSetPriority</a> (<a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> thread_id, <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> priority)</td></tr>
    166. 

  166. <tr class="memdesc:ga0dfb90ccf1f6e4b54b9251b12d1cbc8b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Change priority of an active thread.  <a href="#ga0dfb90ccf1f6e4b54b9251b12d1cbc8b">More...</a><br/></td></tr>
    167. 

  167. <tr class="separator:ga0dfb90ccf1f6e4b54b9251b12d1cbc8b"><td class="memSeparator" colspan="2">&#160;</td></tr>
    168. 

  168. <tr class="memitem:ga4299d838978bc2aae5e4350754e6a4e9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga4299d838978bc2aae5e4350754e6a4e9">osThreadGetPriority</a> (<a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> thread_id)</td></tr>
    169. 

  169. <tr class="memdesc:ga4299d838978bc2aae5e4350754e6a4e9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get current priority of an active thread.  <a href="#ga4299d838978bc2aae5e4350754e6a4e9">More...</a><br/></td></tr>
    170. 

  170. <tr class="separator:ga4299d838978bc2aae5e4350754e6a4e9"><td class="memSeparator" colspan="2">&#160;</td></tr>
    171. 

  171. <tr class="memitem:gaf13a667493c5d629a90c13e113b99233"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf13a667493c5d629a90c13e113b99233">osThreadYield</a> (void)</td></tr>
    172. 

  172. <tr class="memdesc:gaf13a667493c5d629a90c13e113b99233"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pass control to next thread that is in state <b>READY</b>.  <a href="#gaf13a667493c5d629a90c13e113b99233">More...</a><br/></td></tr>
    173. 

  173. <tr class="separator:gaf13a667493c5d629a90c13e113b99233"><td class="memSeparator" colspan="2">&#160;</td></tr>
    174. 

  174. </table>
    175. 

  175. <a name="details" id="details"></a><h2 class="groupheader">Description</h2>
    176. 

  176. <p>The Thread Management function group allows defining, creating, and controlling thread functions in the system. The function <b>main</b> is a special thread function that is started at system initialization and has the initial priority <em>osPriorityNormal</em>.</p>
    177. 

  177. <p><a class="anchor" id="ThreadStates"></a>Threads can be in the following states:</p>
    178. 

  178. <ul>
    179. 

  179. <li><b>RUNNING:</b> The thread that is currently running is in the <b>RUNNING</b> state. Only one thread at a time can be in this state.</li>
    180. 

  180. <li><b>READY:</b> Threads which are ready to run are in the <b>READY</b> state. Once the <b>RUNNING</b> thread has terminated or is <b>WAITING</b>, the next <b>READY</b> thread with the highest priority becomes the <b>RUNNING</b> thread.</li>
    181. 

  181. <li><b>WAITING:</b> Threads that are waiting for an event to occur are in the <b>WAITING</b> state.</li>
    182. 

  182. <li><b>INACTIVE:</b> Threads that are not created or terminated are in the <b>INACTIVE</b> state. These threads typically consume no system resources.</li>
    183. 

  183. </ul>
    184. 

  184. <div class="image">
    185. 

  185. <img src="ThreadStatus.png" alt="ThreadStatus.png"/>
    186. 

  186. <div class="caption">
    187. 

  187. Thread State and State Transitions</div></div>
    188. 

  188. <p> A CMSIS-RTOS assumes that threads are scheduled as shown in the figure <b>Thread State and State Transitions</b>. The thread states change as follows:</p>
    189. 

  189. <ul>
    190. 

  190. <li>A thread is created using the function <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a>. This puts the thread into the <b>READY</b> or <b>RUNNING</b> state (depending on the thread priority).</li>
    191. 

  191. <li>CMSIS-RTOS is pre-emptive. The active thread with the highest priority becomes the <b>RUNNING</b> thread provided it does not wait for any event. The initial priority of a thread is defined with the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaee93d929beb350f16e5cc7fa602e229f">osThreadDef</a> but may be changed during execution using the function <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga0dfb90ccf1f6e4b54b9251b12d1cbc8b">osThreadSetPriority</a>.</li>
    192. 

  192. <li>The <b>RUNNING</b> thread transfers into the <b>WAITING</b> state when it is waiting for an event.</li>
    193. 

  193. <li>Active threads can be terminated any time using the function <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaea135bb90eb853eff39e0800b91bbeab">osThreadTerminate</a>. Threads can terminate also by just returning from the thread function. Threads that are terminated are in the <b>INACTIVE</b> state and typically do not consume any dynamic memory resources. </li>
    194. 

  194. </ul>
    195. 

  195. <h2 class="groupheader">Macro Definition Documentation</h2>
    196. 

  196. <a class="anchor" id="gaf0c7c6b5e09f8be198312144b5c9e453"></a>
    197. 

  197. <div class="memitem">
    198. 

  198. <div class="memproto">
    199. 

  199.       <table class="memname">
    200. 

  200.         <tr>
    201. 

  201.           <td class="memname">#define osThread</td>
    202. 

  202.           <td>(</td>
    203. 

  203.           <td class="paramtype">&#160;</td>
    204. 

  204.           <td class="paramname">name</td><td>)</td>
    205. 

  205.           <td>&#160;&#160;&#160;&amp;os_thread_def_##name</td>
    206. 

  206.         </tr>
    207. 

  207.       </table>
    208. 

  208. </div><div class="memdoc">
    209. 

  209. <p>Access to the thread definition for the function <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a>.</p>
    210. 

  210. <dl class="params"><dt>Parameters</dt><dd>
    211. 

  211.   <table class="params">
    212. 

  212.     <tr><td class="paramname">name</td><td>name of the thread definition object. </td></tr>
    213. 

  213.   </table>
    214. 

  214.   </dd>
    215. 

  215. </dl>
    216. 

  216. <dl class="section note"><dt>Note</dt><dd>CAN BE CHANGED: The parameter to <b>osThread</b> shall be consistent but the macro body is implementation specific in every CMSIS-RTOS. </dd></dl>
    217. 

  217. 

  218. </div>
    219. 

  219. </div>
    220. 

  220. <a class="anchor" id="gaee93d929beb350f16e5cc7fa602e229f"></a>
    221. 

  221. <div class="memitem">
    222. 

  222. <div class="memproto">
    223. 

  223.       <table class="memname">
    224. 

  224.         <tr>
    225. 

  225.           <td class="memname">#define osThreadDef</td>
    226. 

  226.           <td>(</td>
    227. 

  227.           <td class="paramtype">&#160;</td>
    228. 

  228.           <td class="paramname">name, </td>
    229. 

  229.         </tr>
    230. 

  230.         <tr>
    231. 

  231.           <td class="paramkey"></td>
    232. 

  232.           <td></td>
    233. 

  233.           <td class="paramtype">&#160;</td>
    234. 

  234.           <td class="paramname">priority, </td>
    235. 

  235.         </tr>
    236. 

  236.         <tr>
    237. 

  237.           <td class="paramkey"></td>
    238. 

  238.           <td></td>
    239. 

  239.           <td class="paramtype">&#160;</td>
    240. 

  240.           <td class="paramname">instances, </td>
    241. 

  241.         </tr>
    242. 

  242.         <tr>
    243. 

  243.           <td class="paramkey"></td>
    244. 

  244.           <td></td>
    245. 

  245.           <td class="paramtype">&#160;</td>
    246. 

  246.           <td class="paramname">stacksz&#160;</td>
    247. 

  247.         </tr>
    248. 

  248.         <tr>
    249. 

  249.           <td></td>
    250. 

  250.           <td>)</td>
    251. 

  251.           <td></td><td></td>
    252. 

  252.         </tr>
    253. 

  253.       </table>
    254. 

  254. </div><div class="memdoc">
    255. 

  255. <p>Define the attributes of a thread functions that can be created by the function <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a> using <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf0c7c6b5e09f8be198312144b5c9e453">osThread</a>. The argument <em>instances</em> defines the number of times that <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a> can be called for the same <b>osThreadDef</b>.</p>
    256. 

  256. <p><b>Code</b> <b>Example</b> </p>
    257. 

  257. <div class="fragment"><div class="line"><span class="preprocessor">#include &quot;<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>&quot;</span></div>
    258. 

  258. <div class="line"> </div>
    259. 

  259. <div class="line"><span class="keywordtype">void</span> Thread (<span class="keywordtype">void</span> <span class="keyword">const</span> *arg);                             <span class="comment">// function prototype for a Thread</span></div>
    260. 

  260. <div class="line"><a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaee93d929beb350f16e5cc7fa602e229f">osThreadDef</a> (Thread, <a class="code" href="cmsis__os_8h.html#ga7f2b42f1983b9107775ec2a1c69a849aa45a2895ad30c79fb97de18cac7cc19f1">osPriorityNormal</a>, 3, 0);              <span class="comment">// define Thread and specify to allow three instances</span></div>
    261. 

  261. <div class="line"> </div>
    262. 

  262. <div class="line"><span class="keywordtype">void</span> ThreadCreate_example (<span class="keywordtype">void</span>) {</div>
    263. 

  263. <div class="line">  <a class="code" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> id1, id2, id3;</div>
    264. 

  264. <div class="line">  </div>
    265. 

  265. <div class="line">  id1 = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a> (<a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf0c7c6b5e09f8be198312144b5c9e453">osThread</a> (Thread), NULL);          <span class="comment">// create the thread with id1</span></div>
    266. 

  266. <div class="line">  id2 = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a> (<a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf0c7c6b5e09f8be198312144b5c9e453">osThread</a> (Thread), NULL);          <span class="comment">// create the thread with id2</span></div>
    267. 

  267. <div class="line">  id3 = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a> (<a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf0c7c6b5e09f8be198312144b5c9e453">osThread</a> (Thread), NULL);          <span class="comment">// create the thread with id3</span></div>
    268. 

  268. <div class="line">  <span class="keywordflow">if</span> (id1 == NULL) {                                       <span class="comment">// handle thread creation for id1</span></div>
    269. 

  269. <div class="line">    <span class="comment">// Failed to create the thread with id1</span></div>
    270. 

  270. <div class="line">  }</div>
    271. 

  271. <div class="line">  <span class="keywordflow">if</span> (id2 == NULL) {                                       <span class="comment">// handle thread creation for id2</span></div>
    272. 

  272. <div class="line">    <span class="comment">// Failed to create the thread with id2</span></div>
    273. 

  273. <div class="line">  }</div>
    274. 

  274. <div class="line">  <span class="keywordflow">if</span> (id3 == NULL) {                                       <span class="comment">// handle thread creation for id3</span></div>
    275. 

  275. <div class="line">    <span class="comment">// Failed to create the thread with id3</span></div>
    276. 

  276. <div class="line">  }</div>
    277. 

  277. <div class="line">  :</div>
    278. 

  278. <div class="line">  <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaea135bb90eb853eff39e0800b91bbeab">osThreadTerminate</a> (id1);                                  <span class="comment">// stop the thread with id1</span></div>
    279. 

  279. <div class="line">  <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaea135bb90eb853eff39e0800b91bbeab">osThreadTerminate</a> (id2);                                  <span class="comment">// stop the thread with id2</span></div>
    280. 

  280. <div class="line">  <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaea135bb90eb853eff39e0800b91bbeab">osThreadTerminate</a> (id3);                                  <span class="comment">// stop the thread with id3</span></div>
    281. 

  281. <div class="line">}</div>
    282. 

  282. </div><!-- fragment --><dl class="params"><dt>Parameters</dt><dd>
    283. 

  283.   <table class="params">
    284. 

  284.     <tr><td class="paramname">name</td><td>name of the thread function. </td></tr>
    285. 

  285.     <tr><td class="paramname">priority</td><td>initial priority of the thread function. </td></tr>
    286. 

  286.     <tr><td class="paramname">instances</td><td>number of possible thread instances. </td></tr>
    287. 

  287.     <tr><td class="paramname">stacksz</td><td>stack size (in bytes) requirements for the thread function. </td></tr>
    288. 

  288.   </table>
    289. 

  289.   </dd>
    290. 

  290. </dl>
    291. 

  291. <dl class="section note"><dt>Note</dt><dd>CAN BE CHANGED: The parameters to <b>osThreadDef</b> shall be consistent but the macro body is implementation specific in every CMSIS-RTOS. </dd></dl>
    292. 

  292. 

  293. </div>
    294. 

  294. </div>
    295. 

  295. <h2 class="groupheader">Enumeration Type Documentation</h2>
    296. 

  296. <a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849a"></a>
    297. 

  297. <div class="memitem">
    298. 

  298. <div class="memproto">
    299. 

  299.       <table class="memname">
    300. 

  300.         <tr>
    301. 

  301.           <td class="memname">enum <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a></td>
    302. 

  302.         </tr>
    303. 

  303.       </table>
    304. 

  304. </div><div class="memdoc">
    305. 

  305. <dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osPriority</b> shall be consistent in every CMSIS-RTOS.</dd>
    306. 

  306. <dd>
    307. 

  307. Cannot be called from <a class="el" href="functionOverview.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>.</dd></dl>
    308. 

  308. <p>The <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> value specifies the priority for a thread. The default thread priority should be <em>osPriorityNormal</em>. If a Thread is active that has a higher priority than the currently executing thread, then a thread switch occurs immediately to execute the new task.</p>
    309. 

  309. <p>To prevent from a priority inversion, a CMSIS-RTOS compliant OS may optionally implement a <b>priority inheritance</b> method. A priority inversion occurs when a high priority thread is waiting for a resource or event that is controlled by a thread with a lower priority. </p>
    310. 

  310. <table class="fieldtable">
    311. 

  311. <tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa549e79a43ff4f8b2b31afb613f5caa81"></a>osPriorityIdle</em>&#160;</td><td class="fielddoc">
    312. 

  312. <p>priority: idle (lowest) </p>
    313. 

  313. </td></tr>
    314. 

  314. <tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa61cb822239ac8f66dfbdc7291598a3d4"></a>osPriorityLow</em>&#160;</td><td class="fielddoc">
    315. 

  315. <p>priority: low </p>
    316. 

  316. </td></tr>
    317. 

  317. <tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa193b650117c209b4a203954542bcc3e6"></a>osPriorityBelowNormal</em>&#160;</td><td class="fielddoc">
    318. 

  318. <p>priority: below normal </p>
    319. 

  319. </td></tr>
    320. 

  320. <tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa45a2895ad30c79fb97de18cac7cc19f1"></a>osPriorityNormal</em>&#160;</td><td class="fielddoc">
    321. 

  321. <p>priority: normal (default) </p>
    322. 

  322. </td></tr>
    323. 

  323. <tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa17b36cd9cd38652c2bc6d4803990674b"></a>osPriorityAboveNormal</em>&#160;</td><td class="fielddoc">
    324. 

  324. <p>priority: above normal </p>
    325. 

  325. </td></tr>
    326. 

  326. <tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa914433934143a9ba767e59577c56e6c2"></a>osPriorityHigh</em>&#160;</td><td class="fielddoc">
    327. 

  327. <p>priority: high </p>
    328. 

  328. </td></tr>
    329. 

  329. <tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa1485dec3702434a1ec3cb74c7a17a4af"></a>osPriorityRealtime</em>&#160;</td><td class="fielddoc">
    330. 

  330. <p>priority: realtime (highest) </p>
    331. 

  331. </td></tr>
    332. 

  332. <tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aae35f5e2f9c64ad346822521b643bdea4"></a>osPriorityError</em>&#160;</td><td class="fielddoc">
    333. 

  333. <p>system cannot determine priority or thread has illegal priority </p>
    334. 

  334. </td></tr>
    335. 

  335. </table>
    336. 

  336. 

  337. </div>
    338. 

  338. </div>
    339. 

  339. <h2 class="groupheader">Function Documentation</h2>
    340. 

  340. <a class="anchor" id="gac59b5713cb083702dce759c73fd90dff"></a>
    341. 

  341. <div class="memitem">
    342. 

  342. <div class="memproto">
    343. 

  343.       <table class="memname">
    344. 

  344.         <tr>
    345. 

  345.           <td class="memname"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> osThreadCreate </td>
    346. 

  346.           <td>(</td>
    347. 

  347.           <td class="paramtype">const <a class="el" href="cmsis__os_8h.html#structosThreadDef__t">osThreadDef_t</a> *&#160;</td>
    348. 

  348.           <td class="paramname"><em>thread_def</em>, </td>
    349. 

  349.         </tr>
    350. 

  350.         <tr>
    351. 

  351.           <td class="paramkey"></td>
    352. 

  352.           <td></td>
    353. 

  353.           <td class="paramtype">void *&#160;</td>
    354. 

  354.           <td class="paramname"><em>argument</em>&#160;</td>
    355. 

  355.         </tr>
    356. 

  356.         <tr>
    357. 

  357.           <td></td>
    358. 

  358.           <td>)</td>
    359. 

  359.           <td></td><td></td>
    360. 

  360.         </tr>
    361. 

  361.       </table>
    362. 

  362. </div><div class="memdoc">
    363. 

  363. <dl class="params"><dt>Parameters</dt><dd>
    364. 

  364.   <table class="params">
    365. 

  365.     <tr><td class="paramdir">[in]</td><td class="paramname">thread_def</td><td>thread definition referenced with <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf0c7c6b5e09f8be198312144b5c9e453">osThread</a>. </td></tr>
    366. 

  366.     <tr><td class="paramdir">[in]</td><td class="paramname">argument</td><td>pointer that is passed to the thread function as start argument. </td></tr>
    367. 

  367.   </table>
    368. 

  368.   </dd>
    369. 

  369. </dl>
    370. 

  370. <dl class="section return"><dt>Returns</dt><dd>thread ID for reference by other functions or NULL in case of error. </dd></dl>
    371. 

  371. <dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadCreate</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
    372. 

  372. <p>Start a thread function by adding it to the Active Threads list and set it to state <b>READY</b>. The thread function receives the <em>argument</em> pointer as function argument when the function is started. When the priority of the created thread function is higher than the current <b>RUNNING</b> thread, the created thread function starts instantly and becomes the new <b>RUNNING</b> thread.</p>
    373. 

  373. <dl class="section note"><dt>Note</dt><dd>Cannot be called from <a class="el" href="functionOverview.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>.</dd></dl>
    374. 

  374. <p><b>Code Example</b> </p>
    375. 

  375. <div class="fragment"><div class="line"><span class="preprocessor">#include &quot;<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>&quot;</span></div>
    376. 

  376. <div class="line"> </div>
    377. 

  377. <div class="line"><span class="keywordtype">void</span> Thread_1 (<span class="keywordtype">void</span> <span class="keyword">const</span> *arg);                           <span class="comment">// function prototype for Thread_1</span></div>
    378. 

  378. <div class="line"><a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaee93d929beb350f16e5cc7fa602e229f">osThreadDef</a> (Thread_1, <a class="code" href="cmsis__os_8h.html#ga7f2b42f1983b9107775ec2a1c69a849aa45a2895ad30c79fb97de18cac7cc19f1">osPriorityNormal</a>, 1, 0);            <span class="comment">// define Thread_1</span></div>
    379. 

  379. <div class="line"> </div>
    380. 

  380. <div class="line"><span class="keywordtype">void</span> ThreadCreate_example (<span class="keywordtype">void</span>) {</div>
    381. 

  381. <div class="line">  <a class="code" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> id;</div>
    382. 

  382. <div class="line">  </div>
    383. 

  383. <div class="line">  <span class="keywordtype">id</span> = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a> (<a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf0c7c6b5e09f8be198312144b5c9e453">osThread</a> (Thread_1), NULL);         <span class="comment">// create the thread</span></div>
    384. 

  384. <div class="line">  <span class="keywordflow">if</span> (<span class="keywordtype">id</span> == NULL) {                                        <span class="comment">// handle thread creation</span></div>
    385. 

  385. <div class="line">    <span class="comment">// Failed to create a thread</span></div>
    386. 

  386. <div class="line">  }</div>
    387. 

  387. <div class="line">  :</div>
    388. 

  388. <div class="line">  <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaea135bb90eb853eff39e0800b91bbeab">osThreadTerminate</a> (<span class="keywordtype">id</span>);                                  <span class="comment">// stop the thread</span></div>
    389. 

  389. <div class="line">}</div>
    390. 

  390. </div><!-- fragment --> 
    391. 

  391. </div>
    392. 

  392. </div>
    393. 

  393. <a class="anchor" id="gab1df2a28925862ef8f9cf4e1c995c5a7"></a>
    394. 

  394. <div class="memitem">
    395. 

  395. <div class="memproto">
    396. 

  396.       <table class="memname">
    397. 

  397.         <tr>
    398. 

  398.           <td class="memname"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> osThreadGetId </td>
    399. 

  399.           <td>(</td>
    400. 

  400.           <td class="paramtype">void&#160;</td>
    401. 

  401.           <td class="paramname"></td><td>)</td>
    402. 

  402.           <td></td>
    403. 

  403.         </tr>
    404. 

  404.       </table>
    405. 

  405. </div><div class="memdoc">
    406. 

  406. <dl class="section return"><dt>Returns</dt><dd>thread ID for reference by other functions or NULL in case of error. </dd></dl>
    407. 

  407. <dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadGetId</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
    408. 

  408. <p>Get the thread ID of the current running thread.</p>
    409. 

  409. <dl class="section note"><dt>Note</dt><dd>Cannot be called from <a class="el" href="functionOverview.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. </dd>
    410. 

  410. <dd>
    411. 

  411. Must not be used inside the idle daemon. This would lead to undefined behavior.</dd></dl>
    412. 

  412. <p><b>Code Example</b> </p>
    413. 

  413. <div class="fragment"><div class="line"><span class="keywordtype">void</span> ThreadGetId_example (<span class="keywordtype">void</span>)  {</div>
    414. 

  414. <div class="line">  <a class="code" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> id;                                           <span class="comment">// id for the currently running thread</span></div>
    415. 

  415. <div class="line">   </div>
    416. 

  416. <div class="line">  <span class="keywordtype">id</span> = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gab1df2a28925862ef8f9cf4e1c995c5a7">osThreadGetId</a> ();</div>
    417. 

  417. <div class="line">  <span class="keywordflow">if</span> (<span class="keywordtype">id</span> == NULL) {</div>
    418. 

  418. <div class="line">    <span class="comment">// Failed to get the id; not in a thread</span></div>
    419. 

  419. <div class="line">  }</div>
    420. 

  420. <div class="line">}</div>
    421. 

  421. </div><!-- fragment --> 
    422. 

  422. </div>
    423. 

  423. </div>
    424. 

  424. <a class="anchor" id="ga4299d838978bc2aae5e4350754e6a4e9"></a>
    425. 

  425. <div class="memitem">
    426. 

  426. <div class="memproto">
    427. 

  427.       <table class="memname">
    428. 

  428.         <tr>
    429. 

  429.           <td class="memname"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> osThreadGetPriority </td>
    430. 

  430.           <td>(</td>
    431. 

  431.           <td class="paramtype"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a>&#160;</td>
    432. 

  432.           <td class="paramname"><em>thread_id</em></td><td>)</td>
    433. 

  433.           <td></td>
    434. 

  434.         </tr>
    435. 

  435.       </table>
    436. 

  436. </div><div class="memdoc">
    437. 

  437. <dl class="params"><dt>Parameters</dt><dd>
    438. 

  438.   <table class="params">
    439. 

  439.     <tr><td class="paramdir">[in]</td><td class="paramname">thread_id</td><td>thread ID obtained by <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gab1df2a28925862ef8f9cf4e1c995c5a7">osThreadGetId</a>. </td></tr>
    440. 

  440.   </table>
    441. 

  441.   </dd>
    442. 

  442. </dl>
    443. 

  443. <dl class="section return"><dt>Returns</dt><dd>current priority value of the thread function. </dd></dl>
    444. 

  444. <dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadGetPriority</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
    445. 

  445. <p>Get the priority of an active thread. In case of a failure the value <b>osPriorityError</b> is returned.</p>
    446. 

  446. <dl class="section note"><dt>Note</dt><dd>Cannot be called from <a class="el" href="functionOverview.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>.</dd></dl>
    447. 

  447. <p><b>Code Example</b> </p>
    448. 

  448. <div class="fragment"><div class="line"><span class="preprocessor">#include &quot;<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>&quot;</span></div>
    449. 

  449. <div class="line"> </div>
    450. 

  450. <div class="line"><span class="keywordtype">void</span> Thread_1 (<span class="keywordtype">void</span> <span class="keyword">const</span> *arg)  {                         <span class="comment">// Thread function</span></div>
    451. 

  451. <div class="line">  <a class="code" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> id;                                           <span class="comment">// id for the currently running thread</span></div>
    452. 

  452. <div class="line">  <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> priority;                                     <span class="comment">// thread priority</span></div>
    453. 

  453. <div class="line">   </div>
    454. 

  454. <div class="line">  <span class="keywordtype">id</span> = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gab1df2a28925862ef8f9cf4e1c995c5a7">osThreadGetId</a> ();                                   <span class="comment">// Obtain ID of current running thread</span></div>
    455. 

  455. <div class="line">   </div>
    456. 

  456. <div class="line">  <span class="keywordflow">if</span> (<span class="keywordtype">id</span> != NULL)  {</div>
    457. 

  457. <div class="line">    priority = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga4299d838978bc2aae5e4350754e6a4e9">osThreadGetPriority</a> (<span class="keywordtype">id</span>);</div>
    458. 

  458. <div class="line">  }</div>
    459. 

  459. <div class="line">  <span class="keywordflow">else</span>  {</div>
    460. 

  460. <div class="line">    <span class="comment">// Failed to get the id</span></div>
    461. 

  461. <div class="line">  }</div>
    462. 

  462. <div class="line">}</div>
    463. 

  463. </div><!-- fragment --> 
    464. 

  464. </div>
    465. 

  465. </div>
    466. 

  466. <a class="anchor" id="ga0dfb90ccf1f6e4b54b9251b12d1cbc8b"></a>
    467. 

  467. <div class="memitem">
    468. 

  468. <div class="memproto">
    469. 

  469.       <table class="memname">
    470. 

  470.         <tr>
    471. 

  471.           <td class="memname"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a> osThreadSetPriority </td>
    472. 

  472.           <td>(</td>
    473. 

  473.           <td class="paramtype"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a>&#160;</td>
    474. 

  474.           <td class="paramname"><em>thread_id</em>, </td>
    475. 

  475.         </tr>
    476. 

  476.         <tr>
    477. 

  477.           <td class="paramkey"></td>
    478. 

  478.           <td></td>
    479. 

  479.           <td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a>&#160;</td>
    480. 

  480.           <td class="paramname"><em>priority</em>&#160;</td>
    481. 

  481.         </tr>
    482. 

  482.         <tr>
    483. 

  483.           <td></td>
    484. 

  484.           <td>)</td>
    485. 

  485.           <td></td><td></td>
    486. 

  486.         </tr>
    487. 

  487.       </table>
    488. 

  488. </div><div class="memdoc">
    489. 

  489. <dl class="params"><dt>Parameters</dt><dd>
    490. 

  490.   <table class="params">
    491. 

  491.     <tr><td class="paramdir">[in]</td><td class="paramname">thread_id</td><td>thread ID obtained by <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gab1df2a28925862ef8f9cf4e1c995c5a7">osThreadGetId</a>. </td></tr>
    492. 

  492.     <tr><td class="paramdir">[in]</td><td class="paramname">priority</td><td>new priority value for the thread function. </td></tr>
    493. 

  493.   </table>
    494. 

  494.   </dd>
    495. 

  495. </dl>
    496. 

  496. <dl class="section return"><dt>Returns</dt><dd>status code that indicates the execution status of the function. </dd></dl>
    497. 

  497. <dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadSetPriority</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
    498. 

  498. <p>Change the priority of an active thread.</p>
    499. 

  499. <p><b><a class="el" href="group__CMSIS__RTOS__Status.html">Status and Error Codes</a></b><br/>
    500. 

  500. </p>
    501. 

  501. <ul>
    502. 

  502. <li><em>osOK:</em> the priority of the specified thread has been successfully changed.</li>
    503. 

  503. <li><em>osErrorParameter:</em> thread_id is incorrect.</li>
    504. 

  504. <li><em>osErrorValue:</em> incorrect priority value.</li>
    505. 

  505. <li><em>osErrorResource:</em> thread_id refers to a thread that is not an active thread.</li>
    506. 

  506. <li><em>osErrorISR:</em> <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga0dfb90ccf1f6e4b54b9251b12d1cbc8b">osThreadSetPriority</a> cannot be called from interrupt service routines.</li>
    507. 

  507. </ul>
    508. 

  508. <dl class="section note"><dt>Note</dt><dd>Cannot be called from <a class="el" href="functionOverview.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>.</dd></dl>
    509. 

  509. <p><b>Code Example</b> </p>
    510. 

  510. <div class="fragment"><div class="line"><span class="preprocessor">#include &quot;<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>&quot;</span></div>
    511. 

  511. <div class="line"> </div>
    512. 

  512. <div class="line"><span class="keywordtype">void</span> Thread_1 (<span class="keywordtype">void</span> <span class="keyword">const</span> *arg)  {                         <span class="comment">// Thread function</span></div>
    513. 

  513. <div class="line">  <a class="code" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> id;                                           <span class="comment">// id for the currently running thread</span></div>
    514. 

  514. <div class="line">  <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> pr;                                           <span class="comment">// thread priority</span></div>
    515. 

  515. <div class="line">  <a class="code" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a>   status;                                       <span class="comment">// status of the executed function</span></div>
    516. 

  516. <div class="line">   </div>
    517. 

  517. <div class="line">  :  </div>
    518. 

  518. <div class="line">  <span class="keywordtype">id</span> = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gab1df2a28925862ef8f9cf4e1c995c5a7">osThreadGetId</a> ();                                   <span class="comment">// Obtain ID of current running thread</span></div>
    519. 

  519. <div class="line">   </div>
    520. 

  520. <div class="line">  <span class="keywordflow">if</span> (<span class="keywordtype">id</span> != NULL) {</div>
    521. 

  521. <div class="line">    status = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga0dfb90ccf1f6e4b54b9251b12d1cbc8b">osThreadSetPriority</a> (<span class="keywordtype">id</span>, <a class="code" href="cmsis__os_8h.html#ga7f2b42f1983b9107775ec2a1c69a849aa193b650117c209b4a203954542bcc3e6">osPriorityBelowNormal</a>);</div>
    522. 

  522. <div class="line">    <span class="keywordflow">if</span> (status == <a class="code" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99ea9e1c9e2550bb4de8969a935acffc968f">osOK</a>)  {</div>
    523. 

  523. <div class="line">      <span class="comment">// Thread priority changed to BelowNormal</span></div>
    524. 

  524. <div class="line">    }</div>
    525. 

  525. <div class="line">    <span class="keywordflow">else</span> {</div>
    526. 

  526. <div class="line">      <span class="comment">// Failed to set the priority</span></div>
    527. 

  527. <div class="line">    }</div>
    528. 

  528. <div class="line">  }</div>
    529. 

  529. <div class="line">  <span class="keywordflow">else</span>  {</div>
    530. 

  530. <div class="line">    <span class="comment">// Failed to get the id</span></div>
    531. 

  531. <div class="line">  }</div>
    532. 

  532. <div class="line">  :  </div>
    533. 

  533. <div class="line">}</div>
    534. 

  534. </div><!-- fragment --> 
    535. 

  535. </div>
    536. 

  536. </div>
    537. 

  537. <a class="anchor" id="gaea135bb90eb853eff39e0800b91bbeab"></a>
    538. 

  538. <div class="memitem">
    539. 

  539. <div class="memproto">
    540. 

  540.       <table class="memname">
    541. 

  541.         <tr>
    542. 

  542.           <td class="memname"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a> osThreadTerminate </td>
    543. 

  543.           <td>(</td>
    544. 

  544.           <td class="paramtype"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a>&#160;</td>
    545. 

  545.           <td class="paramname"><em>thread_id</em></td><td>)</td>
    546. 

  546.           <td></td>
    547. 

  547.         </tr>
    548. 

  548.       </table>
    549. 

  549. </div><div class="memdoc">
    550. 

  550. <dl class="params"><dt>Parameters</dt><dd>
    551. 

  551.   <table class="params">
    552. 

  552.     <tr><td class="paramdir">[in]</td><td class="paramname">thread_id</td><td>thread ID obtained by <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gab1df2a28925862ef8f9cf4e1c995c5a7">osThreadGetId</a>. </td></tr>
    553. 

  553.   </table>
    554. 

  554.   </dd>
    555. 

  555. </dl>
    556. 

  556. <dl class="section return"><dt>Returns</dt><dd>status code that indicates the execution status of the function. </dd></dl>
    557. 

  557. <dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadTerminate</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
    558. 

  558. <p>Remove the thread function from the active thread list. If the thread is currently RUNNING the execution will stop.</p>
    559. 

  559. <dl class="section note"><dt>Note</dt><dd>In case that <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaea135bb90eb853eff39e0800b91bbeab">osThreadTerminate</a> terminates the currently running task, the function never returns and other threads that are in the READY state are started.</dd></dl>
    560. 

  560. <p><b><a class="el" href="group__CMSIS__RTOS__Status.html">Status and Error Codes</a></b><br/>
    561. 

  561. </p>
    562. 

  562. <ul>
    563. 

  563. <li><em>osOK:</em> the specified thread has been successfully terminated.</li>
    564. 

  564. <li><em>osErrorParameter:</em> thread_id is incorrect.</li>
    565. 

  565. <li><em>osErrorResource:</em> thread_id refers to a thread that is not an active thread.</li>
    566. 

  566. <li><em>osErrorISR:</em> <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaea135bb90eb853eff39e0800b91bbeab">osThreadTerminate</a> cannot be called from interrupt service routines.</li>
    567. 

  567. </ul>
    568. 

  568. <dl class="section note"><dt>Note</dt><dd>Cannot be called from <a class="el" href="functionOverview.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. </dd>
    569. 

  569. <dd>
    570. 

  570. Avoid calling the function with a <em>thread_id</em> that does not exist or has been terminated already.</dd></dl>
    571. 

  571. <p><b>Code Example</b> </p>
    572. 

  572. <div class="fragment"><div class="line"><span class="preprocessor">#include &quot;<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>&quot;</span></div>
    573. 

  573. <div class="line"> </div>
    574. 

  574. <div class="line"><span class="keywordtype">void</span> Thread_1 (<span class="keywordtype">void</span> <span class="keyword">const</span> *arg);                           <span class="comment">// function prototype for Thread_1</span></div>
    575. 

  575. <div class="line"><a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaee93d929beb350f16e5cc7fa602e229f">osThreadDef</a> (Thread_1, <a class="code" href="cmsis__os_8h.html#ga7f2b42f1983b9107775ec2a1c69a849aa45a2895ad30c79fb97de18cac7cc19f1">osPriorityNormal</a>, 1, 0);            <span class="comment">// define Thread_1</span></div>
    576. 

  576. <div class="line"></div>
    577. 

  577. <div class="line"><span class="keywordtype">void</span> ThreadTerminate_example (<span class="keywordtype">void</span>) {</div>
    578. 

  578. <div class="line">  <a class="code" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a> status;</div>
    579. 

  579. <div class="line">  <a class="code" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> id;</div>
    580. 

  580. <div class="line"> </div>
    581. 

  581. <div class="line">  <span class="keywordtype">id</span> = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a> (<a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf0c7c6b5e09f8be198312144b5c9e453">osThread</a> (Thread_1), NULL);         <span class="comment">// create the thread</span></div>
    582. 

  582. <div class="line">  :  </div>
    583. 

  583. <div class="line">  status = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaea135bb90eb853eff39e0800b91bbeab">osThreadTerminate</a> (<span class="keywordtype">id</span>);                         <span class="comment">// stop the thread</span></div>
    584. 

  584. <div class="line">  <span class="keywordflow">if</span> (status == <a class="code" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99ea9e1c9e2550bb4de8969a935acffc968f">osOK</a>) {</div>
    585. 

  585. <div class="line">    <span class="comment">// Thread was terminated successfully</span></div>
    586. 

  586. <div class="line">  }</div>
    587. 

  587. <div class="line">  <span class="keywordflow">else</span> {</div>
    588. 

  588. <div class="line">    <span class="comment">// Failed to terminate a thread</span></div>
    589. 

  589. <div class="line">  }</div>
    590. 

  590. <div class="line">}</div>
    591. 

  591. </div><!-- fragment --> 
    592. 

  592. </div>
    593. 

  593. </div>
    594. 

  594. <a class="anchor" id="gaf13a667493c5d629a90c13e113b99233"></a>
    595. 

  595. <div class="memitem">
    596. 

  596. <div class="memproto">
    597. 

  597.       <table class="memname">
    598. 

  598.         <tr>
    599. 

  599.           <td class="memname"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a> osThreadYield </td>
    600. 

  600.           <td>(</td>
    601. 

  601.           <td class="paramtype">void&#160;</td>
    602. 

  602.           <td class="paramname"></td><td>)</td>
    603. 

  603.           <td></td>
    604. 

  604.         </tr>
    605. 

  605.       </table>
    606. 

  606. </div><div class="memdoc">
    607. 

  607. <dl class="section return"><dt>Returns</dt><dd>status code that indicates the execution status of the function. </dd></dl>
    608. 

  608. <dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadYield</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
    609. 

  609. <p>Pass control to the next thread that is in state <b>READY</b>. If there is no other thread in the state <b>READY</b>, the current thread continues execution and no thread switching occurs.</p>
    610. 

  610. <p><b><a class="el" href="group__CMSIS__RTOS__Status.html">Status and Error Codes</a></b><br/>
    611. 

  611. </p>
    612. 

  612. <ul>
    613. 

  613. <li><em>osOK:</em> the function has been correctly executed.</li>
    614. 

  614. <li><em>osErrorISR:</em> <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf13a667493c5d629a90c13e113b99233">osThreadYield</a> cannot be called from interrupt service routines.</li>
    615. 

  615. </ul>
    616. 

  616. <dl class="section note"><dt>Note</dt><dd>Cannot be called from <a class="el" href="functionOverview.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>.</dd></dl>
    617. 

  617. <p><b>Code Example</b> </p>
    618. 

  618. <div class="fragment"><div class="line"><span class="preprocessor">#include &quot;<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>&quot;</span></div>
    619. 

  619. <div class="line"> </div>
    620. 

  620. <div class="line"><span class="keywordtype">void</span> Thread_1 (<span class="keywordtype">void</span> <span class="keyword">const</span> *arg)  {                         <span class="comment">// Thread function</span></div>
    621. 

  621. <div class="line">  <a class="code" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a>   status;                                       <span class="comment">// status of the executed function</span></div>
    622. 

  622. <div class="line">  :</div>
    623. 

  623. <div class="line">  <span class="keywordflow">while</span> (1)  {</div>
    624. 

  624. <div class="line">    status = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf13a667493c5d629a90c13e113b99233">osThreadYield</a>();                              <span class="comment">// </span></div>
    625. 

  625. <div class="line">    <span class="keywordflow">if</span> (status != <a class="code" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99ea9e1c9e2550bb4de8969a935acffc968f">osOK</a>)  {</div>
    626. 

  626. <div class="line">      <span class="comment">// thread switch not occurred, not in a thread function</span></div>
    627. 

  627. <div class="line">    }</div>
    628. 

  628. <div class="line">  }</div>
    629. 

  629. <div class="line">}</div>
    630. 

  630. </div><!-- fragment --> 
    631. 

  631. </div>
    632. 

  632. </div>
    633. 

  633. </div><!-- contents -->
    634. 

  634. </div><!-- doc-content -->
    635. 

  635. <!-- start footer part -->
    636. 

  636. <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
    637. 

  637.   <ul>
    638. 

  638.     <li class="footer">Generated on Thu Apr 9 2020 15:49:56 for CMSIS-RTOS Version 1.03 by Arm Ltd. All rights reserved.
    639. 

  639. 	<!--
    640. 

  640.     <a href="http://www.doxygen.org/index.html">
    641. 

  641.     <img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.8.6 
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    645. 

  645. </div>
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  647. </html>
    648.