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<title>CMSIS-RTOS: Thread Management</title>
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 <span id="projectnumber">Version 1.03</span>
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<a href="#define-members">Macros</a> |
<a href="#enum-members">Enumerations</a> |
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<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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<p>Define, create, and control thread functions.
<a href="#details">More...</a></p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="define-members"></a>
Macros</h2></td></tr>
<tr class="memitem:gaee93d929beb350f16e5cc7fa602e229f"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaee93d929beb350f16e5cc7fa602e229f">osThreadDef</a>(name, priority, instances, stacksz)</td></tr>
<tr class="memdesc:gaee93d929beb350f16e5cc7fa602e229f"><td class="mdescLeft"> </td><td class="mdescRight">Create a Thread Definition with function, priority, and stack requirements. <a href="#gaee93d929beb350f16e5cc7fa602e229f">More...</a><br/></td></tr>
<tr class="separator:gaee93d929beb350f16e5cc7fa602e229f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaf0c7c6b5e09f8be198312144b5c9e453"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf0c7c6b5e09f8be198312144b5c9e453">osThread</a>(name)   &os_thread_def_##name</td></tr>
<tr class="memdesc:gaf0c7c6b5e09f8be198312144b5c9e453"><td class="mdescLeft"> </td><td class="mdescRight">Access a Thread definition. <a href="#gaf0c7c6b5e09f8be198312144b5c9e453">More...</a><br/></td></tr>
<tr class="separator:gaf0c7c6b5e09f8be198312144b5c9e453"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr class="memitem:ga7f2b42f1983b9107775ec2a1c69a849a"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> { <br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa549e79a43ff4f8b2b31afb613f5caa81">osPriorityIdle</a> = -3,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa61cb822239ac8f66dfbdc7291598a3d4">osPriorityLow</a> = -2,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa193b650117c209b4a203954542bcc3e6">osPriorityBelowNormal</a> = -1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa45a2895ad30c79fb97de18cac7cc19f1">osPriorityNormal</a> = 0,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa17b36cd9cd38652c2bc6d4803990674b">osPriorityAboveNormal</a> = +1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa914433934143a9ba767e59577c56e6c2">osPriorityHigh</a> = +2,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aa1485dec3702434a1ec3cb74c7a17a4af">osPriorityRealtime</a> = +3,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849aae35f5e2f9c64ad346822521b643bdea4">osPriorityError</a> = 0x84
<br/>
}</td></tr>
<tr class="memdesc:ga7f2b42f1983b9107775ec2a1c69a849a"><td class="mdescLeft"> </td><td class="mdescRight">Priority used for thread control. <a href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">More...</a><br/></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:gac59b5713cb083702dce759c73fd90dff"><td class="memItemLeft" align="right" valign="top"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> </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>
<tr class="memdesc:gac59b5713cb083702dce759c73fd90dff"><td class="mdescLeft"> </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>
<tr class="separator:gac59b5713cb083702dce759c73fd90dff"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gab1df2a28925862ef8f9cf4e1c995c5a7"><td class="memItemLeft" align="right" valign="top"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gab1df2a28925862ef8f9cf4e1c995c5a7">osThreadGetId</a> (void)</td></tr>
<tr class="memdesc:gab1df2a28925862ef8f9cf4e1c995c5a7"><td class="mdescLeft"> </td><td class="mdescRight">Return the thread ID of the current running thread. <a href="#gab1df2a28925862ef8f9cf4e1c995c5a7">More...</a><br/></td></tr>
<tr class="separator:gab1df2a28925862ef8f9cf4e1c995c5a7"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaea135bb90eb853eff39e0800b91bbeab"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a> </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>
<tr class="memdesc:gaea135bb90eb853eff39e0800b91bbeab"><td class="mdescLeft"> </td><td class="mdescRight">Terminate execution of a thread and remove it from Active Threads. <a href="#gaea135bb90eb853eff39e0800b91bbeab">More...</a><br/></td></tr>
<tr class="separator:gaea135bb90eb853eff39e0800b91bbeab"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga0dfb90ccf1f6e4b54b9251b12d1cbc8b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a> </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>
<tr class="memdesc:ga0dfb90ccf1f6e4b54b9251b12d1cbc8b"><td class="mdescLeft"> </td><td class="mdescRight">Change priority of an active thread. <a href="#ga0dfb90ccf1f6e4b54b9251b12d1cbc8b">More...</a><br/></td></tr>
<tr class="separator:ga0dfb90ccf1f6e4b54b9251b12d1cbc8b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga4299d838978bc2aae5e4350754e6a4e9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> </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>
<tr class="memdesc:ga4299d838978bc2aae5e4350754e6a4e9"><td class="mdescLeft"> </td><td class="mdescRight">Get current priority of an active thread. <a href="#ga4299d838978bc2aae5e4350754e6a4e9">More...</a><br/></td></tr>
<tr class="separator:ga4299d838978bc2aae5e4350754e6a4e9"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaf13a667493c5d629a90c13e113b99233"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf13a667493c5d629a90c13e113b99233">osThreadYield</a> (void)</td></tr>
<tr class="memdesc:gaf13a667493c5d629a90c13e113b99233"><td class="mdescLeft"> </td><td class="mdescRight">Pass control to next thread that is in state <b>READY</b>. <a href="#gaf13a667493c5d629a90c13e113b99233">More...</a><br/></td></tr>
<tr class="separator:gaf13a667493c5d629a90c13e113b99233"><td class="memSeparator" colspan="2"> </td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Description</h2>
<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>
<p><a class="anchor" id="ThreadStates"></a>Threads can be in the following states:</p>
<ul>
<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>
<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>
<li><b>WAITING:</b> Threads that are waiting for an event to occur are in the <b>WAITING</b> state.</li>
<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>
</ul>
<div class="image">
<img src="ThreadStatus.png" alt="ThreadStatus.png"/>
<div class="caption">
Thread State and State Transitions</div></div>
<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>
<ul>
<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>
<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>
<li>The <b>RUNNING</b> thread transfers into the <b>WAITING</b> state when it is waiting for an event.</li>
<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>
</ul>
<h2 class="groupheader">Macro Definition Documentation</h2>
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<td class="memname">#define osThread</td>
<td>(</td>
<td class="paramtype"> </td>
<td class="paramname">name</td><td>)</td>
<td>   &os_thread_def_##name</td>
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</table>
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<p>Access to the thread definition for the function <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gac59b5713cb083702dce759c73fd90dff">osThreadCreate</a>.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">name</td><td>name of the thread definition object. </td></tr>
</table>
</dd>
</dl>
<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>
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<td class="memname">#define osThreadDef</td>
<td>(</td>
<td class="paramtype"> </td>
<td class="paramname">name, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">priority, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">instances, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"> </td>
<td class="paramname">stacksz </td>
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<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<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>
<p><b>Code</b> <b>Example</b> </p>
<div class="fragment"><div class="line"><span class="preprocessor">#include "<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>"</span></div>
<div class="line"> </div>
<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>
<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>
<div class="line"> </div>
<div class="line"><span class="keywordtype">void</span> ThreadCreate_example (<span class="keywordtype">void</span>) {</div>
<div class="line"> <a class="code" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> id1, id2, id3;</div>
<div class="line"> </div>
<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>
<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>
<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>
<div class="line"> <span class="keywordflow">if</span> (id1 == NULL) { <span class="comment">// handle thread creation for id1</span></div>
<div class="line"> <span class="comment">// Failed to create the thread with id1</span></div>
<div class="line"> }</div>
<div class="line"> <span class="keywordflow">if</span> (id2 == NULL) { <span class="comment">// handle thread creation for id2</span></div>
<div class="line"> <span class="comment">// Failed to create the thread with id2</span></div>
<div class="line"> }</div>
<div class="line"> <span class="keywordflow">if</span> (id3 == NULL) { <span class="comment">// handle thread creation for id3</span></div>
<div class="line"> <span class="comment">// Failed to create the thread with id3</span></div>
<div class="line"> }</div>
<div class="line"> :</div>
<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>
<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>
<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>
<div class="line">}</div>
</div><!-- fragment --><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">name</td><td>name of the thread function. </td></tr>
<tr><td class="paramname">priority</td><td>initial priority of the thread function. </td></tr>
<tr><td class="paramname">instances</td><td>number of possible thread instances. </td></tr>
<tr><td class="paramname">stacksz</td><td>stack size (in bytes) requirements for the thread function. </td></tr>
</table>
</dd>
</dl>
<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>
</div>
</div>
<h2 class="groupheader">Enumeration Type Documentation</h2>
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<td class="memname">enum <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a></td>
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<dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osPriority</b> shall be consistent in every CMSIS-RTOS.</dd>
<dd>
Cannot be called from <a class="el" href="functionOverview.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>.</dd></dl>
<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>
<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>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa549e79a43ff4f8b2b31afb613f5caa81"></a>osPriorityIdle</em> </td><td class="fielddoc">
<p>priority: idle (lowest) </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa61cb822239ac8f66dfbdc7291598a3d4"></a>osPriorityLow</em> </td><td class="fielddoc">
<p>priority: low </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa193b650117c209b4a203954542bcc3e6"></a>osPriorityBelowNormal</em> </td><td class="fielddoc">
<p>priority: below normal </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa45a2895ad30c79fb97de18cac7cc19f1"></a>osPriorityNormal</em> </td><td class="fielddoc">
<p>priority: normal (default) </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa17b36cd9cd38652c2bc6d4803990674b"></a>osPriorityAboveNormal</em> </td><td class="fielddoc">
<p>priority: above normal </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa914433934143a9ba767e59577c56e6c2"></a>osPriorityHigh</em> </td><td class="fielddoc">
<p>priority: high </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aa1485dec3702434a1ec3cb74c7a17a4af"></a>osPriorityRealtime</em> </td><td class="fielddoc">
<p>priority: realtime (highest) </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ga7f2b42f1983b9107775ec2a1c69a849aae35f5e2f9c64ad346822521b643bdea4"></a>osPriorityError</em> </td><td class="fielddoc">
<p>system cannot determine priority or thread has illegal priority </p>
</td></tr>
</table>
</div>
</div>
<h2 class="groupheader">Function Documentation</h2>
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<td class="memname"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> osThreadCreate </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="cmsis__os_8h.html#structosThreadDef__t">osThreadDef_t</a> * </td>
<td class="paramname"><em>thread_def</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">void * </td>
<td class="paramname"><em>argument</em> </td>
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<td></td>
<td>)</td>
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<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<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>
<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>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>thread ID for reference by other functions or NULL in case of error. </dd></dl>
<dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadCreate</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
<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>
<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>
<p><b>Code Example</b> </p>
<div class="fragment"><div class="line"><span class="preprocessor">#include "<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>"</span></div>
<div class="line"> </div>
<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>
<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>
<div class="line"> </div>
<div class="line"><span class="keywordtype">void</span> ThreadCreate_example (<span class="keywordtype">void</span>) {</div>
<div class="line"> <a class="code" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> id;</div>
<div class="line"> </div>
<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>
<div class="line"> <span class="keywordflow">if</span> (<span class="keywordtype">id</span> == NULL) { <span class="comment">// handle thread creation</span></div>
<div class="line"> <span class="comment">// Failed to create a thread</span></div>
<div class="line"> }</div>
<div class="line"> :</div>
<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>
<div class="line">}</div>
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<td class="memname"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> osThreadGetId </td>
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<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
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<dl class="section return"><dt>Returns</dt><dd>thread ID for reference by other functions or NULL in case of error. </dd></dl>
<dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadGetId</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
<p>Get the thread ID of the current running thread.</p>
<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>
<dd>
Must not be used inside the idle daemon. This would lead to undefined behavior.</dd></dl>
<p><b>Code Example</b> </p>
<div class="fragment"><div class="line"><span class="keywordtype">void</span> ThreadGetId_example (<span class="keywordtype">void</span>) {</div>
<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>
<div class="line"> </div>
<div class="line"> <span class="keywordtype">id</span> = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gab1df2a28925862ef8f9cf4e1c995c5a7">osThreadGetId</a> ();</div>
<div class="line"> <span class="keywordflow">if</span> (<span class="keywordtype">id</span> == NULL) {</div>
<div class="line"> <span class="comment">// Failed to get the id; not in a thread</span></div>
<div class="line"> }</div>
<div class="line">}</div>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> osThreadGetPriority </td>
<td>(</td>
<td class="paramtype"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> </td>
<td class="paramname"><em>thread_id</em></td><td>)</td>
<td></td>
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<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<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>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>current priority value of the thread function. </dd></dl>
<dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadGetPriority</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
<p>Get the priority of an active thread. In case of a failure the value <b>osPriorityError</b> is returned.</p>
<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>
<p><b>Code Example</b> </p>
<div class="fragment"><div class="line"><span class="preprocessor">#include "<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>"</span></div>
<div class="line"> </div>
<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>
<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>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> priority; <span class="comment">// thread priority</span></div>
<div class="line"> </div>
<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>
<div class="line"> </div>
<div class="line"> <span class="keywordflow">if</span> (<span class="keywordtype">id</span> != NULL) {</div>
<div class="line"> priority = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga4299d838978bc2aae5e4350754e6a4e9">osThreadGetPriority</a> (<span class="keywordtype">id</span>);</div>
<div class="line"> }</div>
<div class="line"> <span class="keywordflow">else</span> {</div>
<div class="line"> <span class="comment">// Failed to get the id</span></div>
<div class="line"> }</div>
<div class="line">}</div>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a> osThreadSetPriority </td>
<td>(</td>
<td class="paramtype"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> </td>
<td class="paramname"><em>thread_id</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> </td>
<td class="paramname"><em>priority</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<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>
<tr><td class="paramdir">[in]</td><td class="paramname">priority</td><td>new priority value for the thread function. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>status code that indicates the execution status of the function. </dd></dl>
<dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadSetPriority</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
<p>Change the priority of an active thread.</p>
<p><b><a class="el" href="group__CMSIS__RTOS__Status.html">Status and Error Codes</a></b><br/>
</p>
<ul>
<li><em>osOK:</em> the priority of the specified thread has been successfully changed.</li>
<li><em>osErrorParameter:</em> thread_id is incorrect.</li>
<li><em>osErrorValue:</em> incorrect priority value.</li>
<li><em>osErrorResource:</em> thread_id refers to a thread that is not an active thread.</li>
<li><em>osErrorISR:</em> <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga0dfb90ccf1f6e4b54b9251b12d1cbc8b">osThreadSetPriority</a> cannot be called from interrupt service routines.</li>
</ul>
<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>
<p><b>Code Example</b> </p>
<div class="fragment"><div class="line"><span class="preprocessor">#include "<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>"</span></div>
<div class="line"> </div>
<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>
<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>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga7f2b42f1983b9107775ec2a1c69a849a">osPriority</a> pr; <span class="comment">// thread priority</span></div>
<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>
<div class="line"> </div>
<div class="line"> : </div>
<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>
<div class="line"> </div>
<div class="line"> <span class="keywordflow">if</span> (<span class="keywordtype">id</span> != NULL) {</div>
<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>
<div class="line"> <span class="keywordflow">if</span> (status == <a class="code" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99ea9e1c9e2550bb4de8969a935acffc968f">osOK</a>) {</div>
<div class="line"> <span class="comment">// Thread priority changed to BelowNormal</span></div>
<div class="line"> }</div>
<div class="line"> <span class="keywordflow">else</span> {</div>
<div class="line"> <span class="comment">// Failed to set the priority</span></div>
<div class="line"> }</div>
<div class="line"> }</div>
<div class="line"> <span class="keywordflow">else</span> {</div>
<div class="line"> <span class="comment">// Failed to get the id</span></div>
<div class="line"> }</div>
<div class="line"> : </div>
<div class="line">}</div>
</div><!-- fragment -->
</div>
</div>
<a class="anchor" id="gaea135bb90eb853eff39e0800b91bbeab"></a>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a> osThreadTerminate </td>
<td>(</td>
<td class="paramtype"><a class="el" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> </td>
<td class="paramname"><em>thread_id</em></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<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>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>status code that indicates the execution status of the function. </dd></dl>
<dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadTerminate</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
<p>Remove the thread function from the active thread list. If the thread is currently RUNNING the execution will stop.</p>
<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>
<p><b><a class="el" href="group__CMSIS__RTOS__Status.html">Status and Error Codes</a></b><br/>
</p>
<ul>
<li><em>osOK:</em> the specified thread has been successfully terminated.</li>
<li><em>osErrorParameter:</em> thread_id is incorrect.</li>
<li><em>osErrorResource:</em> thread_id refers to a thread that is not an active thread.</li>
<li><em>osErrorISR:</em> <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaea135bb90eb853eff39e0800b91bbeab">osThreadTerminate</a> cannot be called from interrupt service routines.</li>
</ul>
<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>
<dd>
Avoid calling the function with a <em>thread_id</em> that does not exist or has been terminated already.</dd></dl>
<p><b>Code Example</b> </p>
<div class="fragment"><div class="line"><span class="preprocessor">#include "<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>"</span></div>
<div class="line"> </div>
<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>
<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>
<div class="line"></div>
<div class="line"><span class="keywordtype">void</span> ThreadTerminate_example (<span class="keywordtype">void</span>) {</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a> status;</div>
<div class="line"> <a class="code" href="cmsis__os_8h.html#adfeb153a84a81309e2d958268197617f">osThreadId</a> id;</div>
<div class="line"> </div>
<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>
<div class="line"> : </div>
<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>
<div class="line"> <span class="keywordflow">if</span> (status == <a class="code" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99ea9e1c9e2550bb4de8969a935acffc968f">osOK</a>) {</div>
<div class="line"> <span class="comment">// Thread was terminated successfully</span></div>
<div class="line"> }</div>
<div class="line"> <span class="keywordflow">else</span> {</div>
<div class="line"> <span class="comment">// Failed to terminate a thread</span></div>
<div class="line"> }</div>
<div class="line">}</div>
</div><!-- fragment -->
</div>
</div>
<a class="anchor" id="gaf13a667493c5d629a90c13e113b99233"></a>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99e">osStatus</a> osThreadYield </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div><div class="memdoc">
<dl class="section return"><dt>Returns</dt><dd>status code that indicates the execution status of the function. </dd></dl>
<dl class="section note"><dt>Note</dt><dd>MUST REMAIN UNCHANGED: <b>osThreadYield</b> shall be consistent in every CMSIS-RTOS.</dd></dl>
<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>
<p><b><a class="el" href="group__CMSIS__RTOS__Status.html">Status and Error Codes</a></b><br/>
</p>
<ul>
<li><em>osOK:</em> the function has been correctly executed.</li>
<li><em>osErrorISR:</em> <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf13a667493c5d629a90c13e113b99233">osThreadYield</a> cannot be called from interrupt service routines.</li>
</ul>
<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>
<p><b>Code Example</b> </p>
<div class="fragment"><div class="line"><span class="preprocessor">#include "<a class="code" href="cmsis__os_8h.html">cmsis_os.h</a>"</span></div>
<div class="line"> </div>
<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>
<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>
<div class="line"> :</div>
<div class="line"> <span class="keywordflow">while</span> (1) {</div>
<div class="line"> status = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaf13a667493c5d629a90c13e113b99233">osThreadYield</a>(); <span class="comment">// </span></div>
<div class="line"> <span class="keywordflow">if</span> (status != <a class="code" href="group__CMSIS__RTOS__Status.html#gae2e091fefc4c767117727bd5aba4d99ea9e1c9e2550bb4de8969a935acffc968f">osOK</a>) {</div>
<div class="line"> <span class="comment">// thread switch not occurred, not in a thread function</span></div>
<div class="line"> }</div>
<div class="line"> }</div>
<div class="line">}</div>
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