85 lines
2.0 KiB
C
85 lines
2.0 KiB
C
#include "cmsis_os.h"
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#include <unistd.h>
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#include <stdio.h>
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#include <pthread.h>
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#include <errno.h>
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#include <signal.h>
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void osDelay(uint32_t ms) {
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// printf("[DELAY] %d ms\n", ms);
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usleep(ms * 1000);
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}
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// temporary struct to pass function ptr and param to wrapper
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typedef struct {
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TaskFunction_t func;
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void * param;
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} PthreadTask;
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void* pthread_wrapper(void* p) {
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pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS, 0x00);
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pthread_setcancelstate(PTHREAD_CANCEL_ENABLE, 0x00);
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PthreadTask* task = (PthreadTask*)p;
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task->func(task->param);
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return NULL;
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}
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TaskHandle_t xTaskCreateStatic(
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TaskFunction_t pxTaskCode,
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const char * const pcName,
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const uint32_t ulStackDepth,
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void * const pvParameters,
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UBaseType_t uxPriority,
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StackType_t * const puxStackBuffer,
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StaticTask_t * const pxTaskBuffer
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) {
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TaskHandle_t thread = malloc(sizeof(TaskHandle_t));
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PthreadTask* task = malloc(sizeof(PthreadTask));
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task->func = pxTaskCode;
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task->param = pvParameters;
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pthread_create(thread, NULL, pthread_wrapper, (void*)task);
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return thread;
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}
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void vTaskDelete(TaskHandle_t xTask) {
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if(xTask == NULL) {
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// kill itself
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pthread_exit(NULL);
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}
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// maybe thread already join
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if (pthread_kill(*xTask, 0) == ESRCH) return;
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// send thread_child signal to stop it сигнал, который ее завершает
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pthread_cancel(*xTask);
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// wait for join and close descriptor
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pthread_join(*xTask, 0x00);
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// cleanup thread handler
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*xTask = 0;
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}
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TaskHandle_t xTaskGetCurrentTaskHandle(void) {
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TaskHandle_t thread = malloc(sizeof(TaskHandle_t));
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*thread = pthread_self();
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return thread;
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}
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bool task_equal(TaskHandle_t a, TaskHandle_t b) {
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if(a == NULL || b == NULL) return false;
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return pthread_equal(*a, *b) != 0;
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}
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SemaphoreHandle_t xSemaphoreCreateMutexStatic(StaticSemaphore_t* pxMutexBuffer) {
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// TODO add posix mutex init
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return NULL;
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} |