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<p>Define, create, and control thread functions.
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<tr class="memitem:structosThreadAttr__t"><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#structosThreadAttr__t">osThreadAttr_t</a></td></tr>
<tr class="memdesc:structosThreadAttr__t"><td class="mdescLeft"> </td><td class="mdescRight">Attributes structure for thread. <a href="group__CMSIS__RTOS__ThreadMgmt.html#structosThreadAttr__t">More...</a><br/></td></tr>
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<tr class="memitem:ga249499c519f3f8eef5673009ab6cfcbe"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga249499c519f3f8eef5673009ab6cfcbe">osThreadJoinable</a>   0x00000001U</td></tr>
<tr class="memdesc:ga249499c519f3f8eef5673009ab6cfcbe"><td class="mdescLeft"> </td><td class="mdescRight">Thread created in joinable mode. <a href="#ga249499c519f3f8eef5673009ab6cfcbe">More...</a><br/></td></tr>
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<tr class="memitem:gaa9336c1073858d6b118e2e011636246f"><td class="memItemLeft" align="right" valign="top">#define </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa9336c1073858d6b118e2e011636246f">osThreadDetached</a>   0x00000000U</td></tr>
<tr class="memdesc:gaa9336c1073858d6b118e2e011636246f"><td class="mdescLeft"> </td><td class="mdescRight">Thread created in detached mode (default) <a href="#gaa9336c1073858d6b118e2e011636246f">More...</a><br/></td></tr>
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<tr class="memitem:gadd51f99a6eb50b94eee75f27cae815eb"><td class="memItemLeft" align="right" valign="top">typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gadd51f99a6eb50b94eee75f27cae815eb">osThreadFunc_t</a> )(void *argument)</td></tr>
<tr class="memdesc:gadd51f99a6eb50b94eee75f27cae815eb"><td class="mdescLeft"> </td><td class="mdescRight">Entry point of a thread. <a href="#gadd51f99a6eb50b94eee75f27cae815eb">More...</a><br/></td></tr>
<tr class="separator:gadd51f99a6eb50b94eee75f27cae815eb"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaa6c32fe2a3e0a2e01f212d55b02e51c7"><td class="memItemLeft" align="right" valign="top">typedef void * </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a></td></tr>
<tr class="separator:gaa6c32fe2a3e0a2e01f212d55b02e51c7"><td class="memSeparator" colspan="2"> </td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr class="memitem:gad3dc89e942e38d9f3af858a0269a820d"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad3dc89e942e38d9f3af858a0269a820d">osThreadState_t</a> { <br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad3dc89e942e38d9f3af858a0269a820dae9d77830b6866e287417b6e1d983e971">osThreadInactive</a> = 0,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad3dc89e942e38d9f3af858a0269a820da59e286915944fe0e4d1ffdb1f2946f14">osThreadReady</a> = 1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad3dc89e942e38d9f3af858a0269a820dac4fe336e0790188fcf7d667372eca19d">osThreadRunning</a> = 2,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad3dc89e942e38d9f3af858a0269a820daf0e992e354fba8695957c530226a4968">osThreadBlocked</a> = 3,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad3dc89e942e38d9f3af858a0269a820dad5b2726c2d0228f4f1a76cf6b630963c">osThreadTerminated</a> = 4,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad3dc89e942e38d9f3af858a0269a820da339313e26613bc12f66a852e2ff8745e">osThreadError</a> = -1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad3dc89e942e38d9f3af858a0269a820da8872f7e352370eb11ee772c7dcca6e6c">osThreadReserved</a> = 0x7FFFFFFF
<br/>
}</td></tr>
<tr class="memdesc:gad3dc89e942e38d9f3af858a0269a820d"><td class="mdescLeft"> </td><td class="mdescRight">Thread state. <a href="group__CMSIS__RTOS__ThreadMgmt.html#gad3dc89e942e38d9f3af858a0269a820d">More...</a><br/></td></tr>
<tr class="separator:gad3dc89e942e38d9f3af858a0269a820d"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gad4e3e0971b41f2d17584a8c6837342ec"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ec">osPriority_t</a> { <br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca6c437c7185161a3bd1e7e4669dfa17a3">osPriorityNone</a> = 0,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad4e3e0971b41f2d17584a8c6837342ecacd5864eac01a6916a7c866bb51a6aac1">osPriorityIdle</a> = 1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca61cb822239ac8f66dfbdc7291598a3d4">osPriorityLow</a> = 8,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecaba2b6919f0b630c8c1b2c940e3bfadbe">osPriorityLow1</a> = 8+1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca78ad5d00aa07a2b4bf30a639544f5507">osPriorityLow2</a> = 8+2,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca28ccb07942c16f5f5efefb6cf68a7f50">osPriorityLow3</a> = 8+3,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca5a4a4f26d5b220a968e221e854f69a81">osPriorityLow4</a> = 8+4,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecad69b8c14809bc5bdce4887f5a57d9353">osPriorityLow5</a> = 8+5,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecac0f188468664d06d4cd9e6e1ed351393">osPriorityLow6</a> = 8+6,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca5b151ebba7fdeb1baaa9b7b420890b7a">osPriorityLow7</a> = 8+7,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca193b650117c209b4a203954542bcc3e6">osPriorityBelowNormal</a> = 16,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca9138da7187690b15f52d8e5729c18da5">osPriorityBelowNormal1</a> = 16+1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca4f081d6735bf2f513338b07eddf13ae3">osPriorityBelowNormal2</a> = 16+2,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca19c013690d0d6bf3ac90707942be3fdf">osPriorityBelowNormal3</a> = 16+3,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca36931ad6cee5e4700e2c8622bdd2cd24">osPriorityBelowNormal4</a> = 16+4,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca0bcd9ad1e7a02e3bf03be7dcc8ece38e">osPriorityBelowNormal5</a> = 16+5,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecabd3cc7df5b92b752ddf1e7843a786c05">osPriorityBelowNormal6</a> = 16+6,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecab18e3bda7b5e418e309a62d6267ea14b">osPriorityBelowNormal7</a> = 16+7,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca45a2895ad30c79fb97de18cac7cc19f1">osPriorityNormal</a> = 24,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca3e70c19e03d5a54e66bd071f0776782c">osPriorityNormal1</a> = 24+1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca19e96f2b025b6462a43b1965043c8205">osPriorityNormal2</a> = 24+2,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca402bd7ab26fb57c8cee8cf94168f4c91">osPriorityNormal3</a> = 24+3,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca93ef07d3a107aeee6508bfd29ba3485d">osPriorityNormal4</a> = 24+4,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca68f3f6fdaa639de300277802aa13a0ab">osPriorityNormal5</a> = 24+5,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca8221eb0d059726a6309f1f2d0cdb6204">osPriorityNormal6</a> = 24+6,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca049abd04f8951415407ec9d92bd9b80b">osPriorityNormal7</a> = 24+7,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca17b36cd9cd38652c2bc6d4803990674b">osPriorityAboveNormal</a> = 32,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecabfeafc713edfc7b9130aa5c762d68998">osPriorityAboveNormal1</a> = 32+1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca901acf86070e06f5990b611734ee2562">osPriorityAboveNormal2</a> = 32+2,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecad566b876b64e6efdc3eba0fc04e54013">osPriorityAboveNormal3</a> = 32+3,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca6ccac37d7dae4586a2031966d36a63ec">osPriorityAboveNormal4</a> = 32+4,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecae36e8b38ee046a3104bcccabb10cf78c">osPriorityAboveNormal5</a> = 32+5,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca61e6ce27e1e0f34f2540b413b8a8b207">osPriorityAboveNormal6</a> = 32+6,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecadbbb0fed3ada6b9b50d4a628abc2a67d">osPriorityAboveNormal7</a> = 32+7,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca914433934143a9ba767e59577c56e6c2">osPriorityHigh</a> = 40,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca17b7a7e6febf12444a84e90edfce36cb">osPriorityHigh1</a> = 40+1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca40a120cf8bbc42e575455c027f3d9b03">osPriorityHigh2</a> = 40+2,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca0b15518b0b5321a29efa0b42b2f8c759">osPriorityHigh3</a> = 40+3,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecafe5a4f393fab04551ac7d93e80cdf0fb">osPriorityHigh4</a> = 40+4,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca5960841bfbdd959b163429e8502ea4e9">osPriorityHigh5</a> = 40+5,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca5714dda6effc1a3f8ec155d97e3e69bc">osPriorityHigh6</a> = 40+6,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca63ad0cc52a701ef3d9df52b59b995652">osPriorityHigh7</a> = 40+7,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca1485dec3702434a1ec3cb74c7a17a4af">osPriorityRealtime</a> = 48,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecaf685a06b30f0635476e21347a986305b">osPriorityRealtime1</a> = 48+1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecab832bd9de84e5eec2ecad69d085dadff">osPriorityRealtime2</a> = 48+2,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca3f2261e5e733e92844ae8c630f2f9eaa">osPriorityRealtime3</a> = 48+3,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecaf614e3dc966d559cd9d9d2a0f78ebe70">osPriorityRealtime4</a> = 48+4,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecaff84f31ceff203c711fb9476443507df">osPriorityRealtime5</a> = 48+5,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342eca80ae9d0dd256312c0c8f44af48316194">osPriorityRealtime6</a> = 48+6,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecaa76da6825c4bd31c4958200bc289103b">osPriorityRealtime7</a> = 48+7,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad4e3e0971b41f2d17584a8c6837342eca4b4fa46c3ebaf4259662a0a0a3173b7f">osPriorityISR</a> = 56,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecae35f5e2f9c64ad346822521b643bdea4">osPriorityError</a> = -1,
<br/>
  <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ecac86c171f8d466cced0cb1b03bb03343b">osPriorityReserved</a> = 0x7FFFFFFF
<br/>
}</td></tr>
<tr class="memdesc:gad4e3e0971b41f2d17584a8c6837342ec"><td class="mdescLeft"> </td><td class="mdescRight">Priority values. <a href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ec">More...</a><br/></td></tr>
<tr class="separator:gad4e3e0971b41f2d17584a8c6837342ec"><td class="memSeparator" colspan="2"> </td></tr>
</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:ga48d68b8666d99d28fa646ee1d2182b8f"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gadd51f99a6eb50b94eee75f27cae815eb">osThreadFunc_t</a> func, void *argument, const <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#structosThreadAttr__t">osThreadAttr_t</a> *attr)</td></tr>
<tr class="memdesc:ga48d68b8666d99d28fa646ee1d2182b8f"><td class="mdescLeft"> </td><td class="mdescRight">Create a thread and add it to Active Threads. <a href="#ga48d68b8666d99d28fa646ee1d2182b8f">More...</a><br/></td></tr>
<tr class="separator:ga48d68b8666d99d28fa646ee1d2182b8f"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gac3230f3a55a297514b013ebf38f27e0a"><td class="memItemLeft" align="right" valign="top">const char * </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gac3230f3a55a297514b013ebf38f27e0a">osThreadGetName</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id)</td></tr>
<tr class="memdesc:gac3230f3a55a297514b013ebf38f27e0a"><td class="mdescLeft"> </td><td class="mdescRight">Get name of a thread. <a href="#gac3230f3a55a297514b013ebf38f27e0a">More...</a><br/></td></tr>
<tr class="separator:gac3230f3a55a297514b013ebf38f27e0a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga8df03548e89fbc56402a5cd584a505da"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">osThreadGetId</a> (void)</td></tr>
<tr class="memdesc:ga8df03548e89fbc56402a5cd584a505da"><td class="mdescLeft"> </td><td class="mdescRight">Return the thread ID of the current running thread. <a href="#ga8df03548e89fbc56402a5cd584a505da">More...</a><br/></td></tr>
<tr class="separator:ga8df03548e89fbc56402a5cd584a505da"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gacc0a98b42f0a5928e12dc91dc76866b9"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad3dc89e942e38d9f3af858a0269a820d">osThreadState_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gacc0a98b42f0a5928e12dc91dc76866b9">osThreadGetState</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id)</td></tr>
<tr class="memdesc:gacc0a98b42f0a5928e12dc91dc76866b9"><td class="mdescLeft"> </td><td class="mdescRight">Get current thread state of a thread. <a href="#gacc0a98b42f0a5928e12dc91dc76866b9">More...</a><br/></td></tr>
<tr class="separator:gacc0a98b42f0a5928e12dc91dc76866b9"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga861a420fb2d643115b06622903fb3bfb"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga861a420fb2d643115b06622903fb3bfb">osThreadSetPriority</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id, <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ec">osPriority_t</a> priority)</td></tr>
<tr class="memdesc:ga861a420fb2d643115b06622903fb3bfb"><td class="mdescLeft"> </td><td class="mdescRight">Change priority of a thread. <a href="#ga861a420fb2d643115b06622903fb3bfb">More...</a><br/></td></tr>
<tr class="separator:ga861a420fb2d643115b06622903fb3bfb"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga0aeaf349604f456e68e78f9d3b42e44b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ec">osPriority_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga0aeaf349604f456e68e78f9d3b42e44b">osThreadGetPriority</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id)</td></tr>
<tr class="memdesc:ga0aeaf349604f456e68e78f9d3b42e44b"><td class="mdescLeft"> </td><td class="mdescRight">Get current priority of a thread. <a href="#ga0aeaf349604f456e68e78f9d3b42e44b">More...</a><br/></td></tr>
<tr class="separator:ga0aeaf349604f456e68e78f9d3b42e44b"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gad01c7ec26535b1de6b018bb9466720e2"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad01c7ec26535b1de6b018bb9466720e2">osThreadYield</a> (void)</td></tr>
<tr class="memdesc:gad01c7ec26535b1de6b018bb9466720e2"><td class="mdescLeft"> </td><td class="mdescRight">Pass control to next thread that is in state <b>READY</b>. <a href="#gad01c7ec26535b1de6b018bb9466720e2">More...</a><br/></td></tr>
<tr class="separator:gad01c7ec26535b1de6b018bb9466720e2"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaa9de419d0152bf77e9bbcd1f369fb990"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa9de419d0152bf77e9bbcd1f369fb990">osThreadSuspend</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id)</td></tr>
<tr class="memdesc:gaa9de419d0152bf77e9bbcd1f369fb990"><td class="mdescLeft"> </td><td class="mdescRight">Suspend execution of a thread. <a href="#gaa9de419d0152bf77e9bbcd1f369fb990">More...</a><br/></td></tr>
<tr class="separator:gaa9de419d0152bf77e9bbcd1f369fb990"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga3dbad90eff394b02de76a452c84c5d80"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3dbad90eff394b02de76a452c84c5d80">osThreadResume</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id)</td></tr>
<tr class="memdesc:ga3dbad90eff394b02de76a452c84c5d80"><td class="mdescLeft"> </td><td class="mdescRight">Resume execution of a thread. <a href="#ga3dbad90eff394b02de76a452c84c5d80">More...</a><br/></td></tr>
<tr class="separator:ga3dbad90eff394b02de76a452c84c5d80"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaaad14cd9547341ea8109dc4e8540f1dc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaaad14cd9547341ea8109dc4e8540f1dc">osThreadDetach</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id)</td></tr>
<tr class="memdesc:gaaad14cd9547341ea8109dc4e8540f1dc"><td class="mdescLeft"> </td><td class="mdescRight">Detach a thread (thread storage can be reclaimed when thread terminates). <a href="#gaaad14cd9547341ea8109dc4e8540f1dc">More...</a><br/></td></tr>
<tr class="separator:gaaad14cd9547341ea8109dc4e8540f1dc"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga3fca90fb0679afeb968aa8c3d5874487"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id)</td></tr>
<tr class="memdesc:ga3fca90fb0679afeb968aa8c3d5874487"><td class="mdescLeft"> </td><td class="mdescRight">Wait for specified thread to terminate. <a href="#ga3fca90fb0679afeb968aa8c3d5874487">More...</a><br/></td></tr>
<tr class="separator:ga3fca90fb0679afeb968aa8c3d5874487"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gaddaa452dd7610e4096647a566d3556fc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="cmsis__os2_8h.html#a153a4a31b276a9758959580538720a51">__NO_RETURN</a> void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaddaa452dd7610e4096647a566d3556fc">osThreadExit</a> (void)</td></tr>
<tr class="memdesc:gaddaa452dd7610e4096647a566d3556fc"><td class="mdescLeft"> </td><td class="mdescRight">Terminate execution of current running thread. <a href="#gaddaa452dd7610e4096647a566d3556fc">More...</a><br/></td></tr>
<tr class="separator:gaddaa452dd7610e4096647a566d3556fc"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga2f8ba6dba6e9c065a6e236ffd410d74a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga2f8ba6dba6e9c065a6e236ffd410d74a">osThreadTerminate</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id)</td></tr>
<tr class="memdesc:ga2f8ba6dba6e9c065a6e236ffd410d74a"><td class="mdescLeft"> </td><td class="mdescRight">Terminate execution of a thread. <a href="#ga2f8ba6dba6e9c065a6e236ffd410d74a">More...</a><br/></td></tr>
<tr class="separator:ga2f8ba6dba6e9c065a6e236ffd410d74a"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:gab9f8bd715d671c6ee27644867bc1bf65"><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gab9f8bd715d671c6ee27644867bc1bf65">osThreadGetStackSize</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id)</td></tr>
<tr class="memdesc:gab9f8bd715d671c6ee27644867bc1bf65"><td class="mdescLeft"> </td><td class="mdescRight">Get stack size of a thread. <a href="#gab9f8bd715d671c6ee27644867bc1bf65">More...</a><br/></td></tr>
<tr class="separator:gab9f8bd715d671c6ee27644867bc1bf65"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga9c83bd5dd8de329701775d6ef7012720"><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga9c83bd5dd8de329701775d6ef7012720">osThreadGetStackSpace</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id)</td></tr>
<tr class="memdesc:ga9c83bd5dd8de329701775d6ef7012720"><td class="mdescLeft"> </td><td class="mdescRight">Get available stack space of a thread based on stack watermark recording during execution. <a href="#ga9c83bd5dd8de329701775d6ef7012720">More...</a><br/></td></tr>
<tr class="separator:ga9c83bd5dd8de329701775d6ef7012720"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga495b3f812224e7301f23a691793765db"><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga495b3f812224e7301f23a691793765db">osThreadGetCount</a> (void)</td></tr>
<tr class="memdesc:ga495b3f812224e7301f23a691793765db"><td class="mdescLeft"> </td><td class="mdescRight">Get number of active threads. <a href="#ga495b3f812224e7301f23a691793765db">More...</a><br/></td></tr>
<tr class="separator:ga495b3f812224e7301f23a691793765db"><td class="memSeparator" colspan="2"> </td></tr>
<tr class="memitem:ga5606604d56e21ece1a654664be877439"><td class="memItemLeft" align="right" valign="top">uint32_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga5606604d56e21ece1a654664be877439">osThreadEnumerate</a> (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> *thread_array, uint32_t array_items)</td></tr>
<tr class="memdesc:ga5606604d56e21ece1a654664be877439"><td class="mdescLeft"> </td><td class="mdescRight">Enumerate active threads. <a href="#ga5606604d56e21ece1a654664be877439">More...</a><br/></td></tr>
<tr class="separator:ga5606604d56e21ece1a654664be877439"><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.</p>
<dl class="section note"><dt>Note</dt><dd>Thread management functions cannot be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>.</dd></dl>
<p><a class="anchor" id="ThreadStates"></a></p>
<h2>Thread states </h2>
<p>Threads can be in the following states:</p>
<ul>
<li><b>RUNNING:</b> The thread that is currently running is in the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">RUNNING</a> 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 <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">READY</a> state. Once the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">RUNNING</a> thread has terminated, or is <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">BLOCKED</a>, the next <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">READY</a> thread with the highest priority becomes the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">RUNNING</a> thread.</li>
<li><b>BLOCKED:</b> Threads that are blocked either delayed, waiting for an event to occur or suspended are in the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">BLOCKED</a> state.</li>
<li><b>TERMINATED:</b> When <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga2f8ba6dba6e9c065a6e236ffd410d74a">osThreadTerminate</a> is called, threads are <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">TERMINATED</a> with resources not yet released (applies to <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#joinable_threads">joinable threads).</a></li>
<li><b>INACTIVE:</b> Threads that are not created or have been terminated with all resources released are in the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">INACTIVE</a> state.</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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>. This puts the thread into the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">READY</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">RUNNING</a> state (depending on the thread priority).</li>
<li>CMSIS-RTOS is preemptive. The active thread with the highest priority becomes the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">RUNNING</a> 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#structosThreadAttr__t">osThreadAttr_t</a> but may be changed during execution using the function <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga861a420fb2d643115b06622903fb3bfb">osThreadSetPriority</a>.</li>
<li>The <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">RUNNING</a> thread transfers into the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">BLOCKED</a> state when it is delayed, waiting for an event or suspended.</li>
<li>Active threads can be terminated any time using the function <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga2f8ba6dba6e9c065a6e236ffd410d74a">osThreadTerminate</a>. Threads can terminate also by just returning from the thread function. Threads that are terminated are in the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">INACTIVE</a> state and typically do not consume any dynamic memory resources.</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>Refer to <a class="el" href="config_rtx5.html#threadConfig">Thread Configuration</a> for RTX5 configuration options.</dd></dl>
<p><a class="anchor" id="thread_examples"></a></p>
<h1>Thread Examples </h1>
<p>The following examples show various scenarios to create threads:</p>
<p><b>Example 1 - Create a simple thread</b></p>
<p>Create a thread out of the function thread1 using all default values for thread attributes and memory from the <a class="el" href="theory_of_operation.html#GlobalMemoryPool">Global Memory Pool</a>.</p>
<div class="fragment"><div class="line"><a class="code" href="cmsis__os2_8h.html#a153a4a31b276a9758959580538720a51">__NO_RETURN</a> <span class="keywordtype">void</span> thread1 (<span class="keywordtype">void</span> *argument) {</div>
<div class="line"> <span class="comment">// ...</span></div>
<div class="line"> <span class="keywordflow">for</span> (;;) {}</div>
<div class="line">}</div>
<div class="line"> </div>
<div class="line"><span class="keywordtype">int</span> main (<span class="keywordtype">void</span>) {</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__KernelCtrl.html#gae818f6611d25ba3140bede410a52d659">osKernelInitialize</a>();</div>
<div class="line"> ;</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>(thread1, NULL, NULL); <span class="comment">// Create thread with default settings</span></div>
<div class="line"> ;</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__KernelCtrl.html#ga9ae2cc00f0d89d7b6a307bba942b5221">osKernelStart</a>(); </div>
<div class="line">}</div>
</div><!-- fragment --><p><b>Example 2 - Create thread with stack non-default stack size</b></p>
<p>Similar to the simple thread all attributes are default. The stack is dynamically allocated from the <a class="el" href="theory_of_operation.html#GlobalMemoryPool">Global Memory Pool</a></p>
<p><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#aacbc9a219f2d6870e9ce89bb93f975c9">osThreadAttr_t::stack_size</a> is used to pass the stack size in Bytes to osThreadNew.</p>
<div class="fragment"><div class="line"><a class="code" href="cmsis__os2_8h.html#a153a4a31b276a9758959580538720a51">__NO_RETURN</a> <span class="keywordtype">void</span> thread1 (<span class="keywordtype">void</span> *argument) {</div>
<div class="line"> <span class="comment">// ...</span></div>
<div class="line"> <span class="keywordflow">for</span> (;;) {}</div>
<div class="line">}</div>
<div class="line"> </div>
<div class="line"><span class="keyword">const</span> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#structosThreadAttr__t">osThreadAttr_t</a> thread1_attr = {</div>
<div class="line"> .<a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#aacbc9a219f2d6870e9ce89bb93f975c9">stack_size</a> = 1024 <span class="comment">// Create the thread stack with a size of 1024 bytes</span></div>
<div class="line">};</div>
<div class="line"> </div>
<div class="line"><span class="keywordtype">int</span> main (<span class="keywordtype">void</span>) {</div>
<div class="line"> ; </div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>(thread1, NULL, &thread1_attr); <span class="comment">// Create thread with custom sized stack memory</span></div>
<div class="line"> ;</div>
<div class="line">}</div>
</div><!-- fragment --><p><b>Example 3 - Create thread with statically allocated stack</b></p>
<p>Similar to the simple thread all attributes are default. The stack is statically allocated using the <code>uint64_t</code> array <code>thread1_stk_1</code>. This allocates 64*8 Bytes (=512 Bytes) with an alignment of 8 Bytes (mandatory for Cortex-M stack memory).</p>
<p><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ad7c9b42355a4c8b9467130ab3fb19e43">osThreadAttr_t::stack_mem</a> holds a pointer to the stacks lowest address.</p>
<p><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#aacbc9a219f2d6870e9ce89bb93f975c9">osThreadAttr_t::stack_size</a> is used to pass the stack size in Bytes to osThreadNew.</p>
<div class="fragment"><div class="line"><a class="code" href="cmsis__os2_8h.html#a153a4a31b276a9758959580538720a51">__NO_RETURN</a> <span class="keywordtype">void</span> thread1 (<span class="keywordtype">void</span> *argument) {</div>
<div class="line"> <span class="comment">// ...</span></div>
<div class="line"> <span class="keywordflow">for</span> (;;) {}</div>
<div class="line">}</div>
<div class="line"> </div>
<div class="line"><span class="keyword">static</span> uint64_t thread1_stk_1[64];</div>
<div class="line"> </div>
<div class="line"><span class="keyword">const</span> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#structosThreadAttr__t">osThreadAttr_t</a> thread1_attr = {</div>
<div class="line"> .<a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ad7c9b42355a4c8b9467130ab3fb19e43">stack_mem</a> = &thread1_stk_1[0],</div>
<div class="line"> .stack_size = <span class="keyword">sizeof</span>(thread1_stk_1)</div>
<div class="line">};</div>
<div class="line"> </div>
<div class="line"><span class="keywordtype">int</span> main (<span class="keywordtype">void</span>) {</div>
<div class="line"> ; </div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>(thread1, NULL, &thread1_attr); <span class="comment">// Create thread with statically allocated stack memory</span></div>
<div class="line"> ;</div>
<div class="line">}</div>
</div><!-- fragment --><p><b>Example 4 - Thread with statically allocated task control block</b></p>
<p>Typically this method is chosen together with a statically allocated stack as shown in Example 2. </p>
<div class="fragment"><div class="line"><span class="preprocessor">#include "<a class="code" href="cmsis__os2_8h.html">cmsis_os2.h</a>"</span></div>
<div class="line"> </div>
<div class="line"><span class="comment">//include rtx_os.h for types of RTX objects</span></div>
<div class="line"><span class="preprocessor">#include "<a class="code" href="rtx__os_8h.html">rtx_os.h</a>"</span></div>
<div class="line"></div>
<div class="line"><a class="code" href="cmsis__os2_8h.html#a153a4a31b276a9758959580538720a51">__NO_RETURN</a> <span class="keywordtype">void</span> thread1 (<span class="keywordtype">void</span> *argument) {</div>
<div class="line"> <span class="comment">// ...</span></div>
<div class="line"> <span class="keywordflow">for</span> (;;) {}</div>
<div class="line">}</div>
<div class="line"> </div>
<div class="line"><span class="keyword">static</span> <a class="code" href="rtx__os_8h.html#structosRtxThread__t">osRtxThread_t</a> thread1_tcb;</div>
<div class="line"> </div>
<div class="line"><span class="keyword">const</span> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#structosThreadAttr__t">osThreadAttr_t</a> thread1_attr = {</div>
<div class="line"> .<a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#a1e100dc33d403841ed3c344e3397868e">cb_mem</a> = &thread1_tcb,</div>
<div class="line"> .cb_size = <span class="keyword">sizeof</span>(thread1_tcb),</div>
<div class="line">};</div>
<div class="line"> </div>
<div class="line"><span class="keywordtype">int</span> main (<span class="keywordtype">void</span>) {</div>
<div class="line"> ;</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>(thread1, NULL, &thread1_attr); <span class="comment">// Create thread with custom tcb memory</span></div>
<div class="line"> ;</div>
<div class="line">}</div>
</div><!-- fragment --><p><b>Example 5 - Create thread with a different priority</b></p>
<p>The default priority of RTX is <a class="el" href="cmsis__os2_8h.html#gad4e3e0971b41f2d17584a8c6837342eca45a2895ad30c79fb97de18cac7cc19f1">osPriorityNormal</a>. Often you want to run a task with a higher or lower priority. Using the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#structosThreadAttr__t">osThreadAttr_t</a> control structure you can set any initial priority required.</p>
<div class="fragment"><div class="line"><a class="code" href="cmsis__os2_8h.html#a153a4a31b276a9758959580538720a51">__NO_RETURN</a> <span class="keywordtype">void</span> thread1 (<span class="keywordtype">void</span> *argument) {</div>
<div class="line"> <span class="comment">// ...</span></div>
<div class="line"> <span class="keywordflow">for</span> (;;) {}</div>
<div class="line">}</div>
<div class="line"> </div>
<div class="line"><span class="keyword">const</span> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#structosThreadAttr__t">osThreadAttr_t</a> thread1_attr = {</div>
<div class="line"> .<a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#a6a5183df4c54c3e28dc8dc704f2487d5">priority</a> = <a class="code" href="cmsis__os2_8h.html#gad4e3e0971b41f2d17584a8c6837342eca914433934143a9ba767e59577c56e6c2">osPriorityHigh</a> <span class="comment">//Set initial thread priority to high </span></div>
<div class="line">};</div>
<div class="line"> </div>
<div class="line"><span class="keywordtype">int</span> main (<span class="keywordtype">void</span>) {</div>
<div class="line"> ;</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>(thread1, NULL, &thread1_attr);</div>
<div class="line"> ;</div>
<div class="line">}</div>
</div><!-- fragment --><p><a class="anchor" id="joinable_threads"></a><b>Example 6 - Joinable threads</b></p>
<p>In this example a master thread creates four threads with the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga249499c519f3f8eef5673009ab6cfcbe">osThreadJoinable</a> attribute. These will do some work and return using the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaddaa452dd7610e4096647a566d3556fc">osThreadExit</a> call after finished. <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a> is used to synchronize the thread termination.</p>
<div class="fragment"><div class="line"><a class="code" href="cmsis__os2_8h.html#a153a4a31b276a9758959580538720a51">__NO_RETURN</a> <span class="keywordtype">void</span> worker (<span class="keywordtype">void</span> *argument) {</div>
<div class="line"> ; <span class="comment">// work a lot on data[] </span></div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__Wait.html#gaf6055a51390ef65b6b6edc28bf47322e">osDelay</a>(1000U);</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaddaa452dd7610e4096647a566d3556fc">osThreadExit</a>();</div>
<div class="line">}</div>
<div class="line"> </div>
<div class="line"><a class="code" href="cmsis__os2_8h.html#a153a4a31b276a9758959580538720a51">__NO_RETURN</a> <span class="keywordtype">void</span> thread1 (<span class="keywordtype">void</span> *argument) {</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#structosThreadAttr__t">osThreadAttr_t</a> worker_attr;</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> worker_ids[4];</div>
<div class="line"> uint8_t data[4][10];</div>
<div class="line"></div>
<div class="line"> memset(&worker_attr, 0, <span class="keyword">sizeof</span>(worker_attr));</div>
<div class="line"> worker_attr.<a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#a6e93b49cb79c12f768d72580c7731f30">attr_bits</a> = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga249499c519f3f8eef5673009ab6cfcbe">osThreadJoinable</a>;</div>
<div class="line"> </div>
<div class="line"> worker_ids[0] = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>(worker, &data[0][0], &worker_attr);</div>
<div class="line"> worker_ids[1] = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>(worker, &data[1][0], &worker_attr);</div>
<div class="line"> worker_ids[2] = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>(worker, &data[2][0], &worker_attr);</div>
<div class="line"> worker_ids[3] = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>(worker, &data[3][0], &worker_attr);</div>
<div class="line"> </div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a>(worker_ids[0]);</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a>(worker_ids[1]);</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a>(worker_ids[2]);</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a>(worker_ids[3]);</div>
<div class="line"> </div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaddaa452dd7610e4096647a566d3556fc">osThreadExit</a>(); </div>
<div class="line">}</div>
</div><!-- fragment --> <hr/><h2 class="groupheader">Data Structure Documentation</h2>
<a name="structosThreadAttr__t" id="structosThreadAttr__t"></a>
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<td class="memname">struct osThreadAttr_t</td>
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<div class="textblock"><p>Specifies the following attributes for the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> function. </p>
</div><table class="fieldtable">
<tr><th colspan="3">Data Fields</th></tr>
<tr><td class="fieldtype">
<a class="anchor" id="ab74e6bf80237ddc4109968cedc58c151"></a>const char *</td>
<td class="fieldname">
name</td>
<td class="fielddoc">
name of the thread <p>Pointer to a constant string with a human readable name (displayed during debugging) of the thread object.</p>
<p>Default: <span class="XML-Token">NULL</span> no name specified (debugger may display function name instead). </p>
</td></tr>
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<a class="anchor" id="a6e93b49cb79c12f768d72580c7731f30"></a>uint32_t</td>
<td class="fieldname">
attr_bits</td>
<td class="fielddoc">
attribute bits <p>The following bit masks can be used to set options:</p>
<ul>
<li><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa9336c1073858d6b118e2e011636246f">osThreadDetached</a> : create thread in a detached mode (default).</li>
<li><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga249499c519f3f8eef5673009ab6cfcbe">osThreadJoinable</a> : create thread in <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#joinable_threads">joinable mode</a>. </li>
</ul>
</td></tr>
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<a class="anchor" id="a1e100dc33d403841ed3c344e3397868e"></a>void *</td>
<td class="fieldname">
cb_mem</td>
<td class="fielddoc">
memory for control block <p>Pointer to a memory for the thread control block object. Refer to <a class="el" href="theory_of_operation.html#StaticObjectMemory">Static Object Memory</a> for more information.</p>
<p>Default: <span class="XML-Token">NULL</span> to use <a class="el" href="group__CMSIS__RTOS__MemoryMgmt.html#CMSIS_RTOS_MemoryMgmt_Automatic">Automatic Dynamic Allocation</a> for the thread control block. </p>
</td></tr>
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<a class="anchor" id="aa55a4335d12dc2785dc00fdc292d1159"></a>uint32_t</td>
<td class="fieldname">
cb_size</td>
<td class="fielddoc">
size of provided memory for control block <p>The size (in bytes) of memory block passed with <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#a1e100dc33d403841ed3c344e3397868e">cb_mem</a>. For RTX, the minimum value is defined with <a class="el" href="group__rtx5__specific__defines.html#ga30d19272204231956582ebfff69567f6">osRtxThreadCbSize</a> (higher values are permitted).</p>
<p>Default: <span class="XML-Token">0</span> as the default is no memory provided with <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#a1e100dc33d403841ed3c344e3397868e">cb_mem</a>. </p>
</td></tr>
<tr><td class="fieldtype">
<a class="anchor" id="ad7c9b42355a4c8b9467130ab3fb19e43"></a>void *</td>
<td class="fieldname">
stack_mem</td>
<td class="fielddoc">
memory for stack <p>Pointer to a memory location for the thread stack (64-bit aligned).</p>
<p>Default: <span class="XML-Token">NULL</span> to allocate stack from a fixed-size memory pool using <a class="el" href="theory_of_operation.html#ThreadStack">Thread Stack Management</a>. </p>
</td></tr>
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<a class="anchor" id="aacbc9a219f2d6870e9ce89bb93f975c9"></a>uint32_t</td>
<td class="fieldname">
stack_size</td>
<td class="fielddoc">
size of stack <p>The size (in bytes) of the stack specified by <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ad7c9b42355a4c8b9467130ab3fb19e43">stack_mem</a>.</p>
<p>Default: <span class="XML-Token">0</span> as the default is no memory provided with <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ad7c9b42355a4c8b9467130ab3fb19e43">stack_mem</a>.</p>
<p>/** </p>
</td></tr>
<tr><td class="fieldtype">
<a class="anchor" id="a6a5183df4c54c3e28dc8dc704f2487d5"></a><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ec">osPriority_t</a></td>
<td class="fieldname">
priority</td>
<td class="fielddoc">
initial thread priority (default: osPriorityNormal) <p>Specifies the initial thread priority with a value from <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ec" title="Priority values. ">osPriority_t</a>.</p>
<p>Default: <span class="XML-Token">osPriorityNormal</span>. </p>
</td></tr>
<tr><td class="fieldtype">
<a class="anchor" id="a697f2aad6119d655d212ea10245ae394"></a><a class="el" href="cmsis__os2_8h.html#ad5ef21485fe5f60263bc0b48006202cb">TZ_ModuleId_t</a></td>
<td class="fieldname">
tz_module</td>
<td class="fielddoc">
TrustZone module identifier. <p>TrustZone Thread Context Management Identifier to allocate context memory for threads. The RTOS kernel that runs in non-secure state calls the interface functions defined by the header file TZ_context.h. Can safely be set to zero for threads not using secure calls at all. See <a href="../../Core/html/group__context__trustzone__functions.html">TrustZone RTOS Context Management</a>.</p>
<p>Default: <span class="XML-Token">0</span> not thread context specified.</p>
<p>/** </p>
</td></tr>
<tr><td class="fieldtype">
<a class="anchor" id="a66f538babc389986738ec70104e0562b"></a>uint32_t</td>
<td class="fieldname">
reserved</td>
<td class="fielddoc">
reserved (must be 0) <p>Reserved for future use. </p>
</td></tr>
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<h2 class="groupheader">Macro Definition Documentation</h2>
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<td class="memname">#define osThreadJoinable   0x00000001U</td>
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<p>A thread in this state can be joined using <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a>. </p>
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<td class="memname">#define osThreadDetached   0x00000000U</td>
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<p>A thread in this state cannot be joined using <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a>. </p>
</div>
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<h2 class="groupheader">Typedef Documentation</h2>
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<td class="memname">void(* osThreadFunc_t)(void *argument)</td>
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<p>Entry function for threads. Setting up a new thread (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>) will start execution with a call into this entry function. The optional argument can be used to hand over arbitrary user data to the thread, i.e. to identify the thread or for runtime parameters.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[in]</td><td class="paramname">argument</td><td>Arbitrary user data set on <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>. </td></tr>
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</dd>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a></td>
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<p>Thread ID identifies the thread.</p>
<p>Returned by:</p>
<ul>
<li><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a></li>
<li><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">osThreadGetId</a></li>
<li><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga5606604d56e21ece1a654664be877439">osThreadEnumerate</a></li>
<li><a class="el" href="group__CMSIS__RTOS__MutexMgmt.html#ga7f9a7666df0978738cd570cb700b83fb">osMutexGetOwner</a> </li>
</ul>
</div>
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<h2 class="groupheader">Enumeration Type Documentation</h2>
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<td class="memname">enum <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad3dc89e942e38d9f3af858a0269a820d">osThreadState_t</a></td>
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<p>State of a thread as retrieved by <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gacc0a98b42f0a5928e12dc91dc76866b9">osThreadGetState</a>. In case <b>osThreadGetState</b> fails or if it is called from an ISR, it will return <code>osThreadError</code>, otherwise it returns the thread state. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><em><a class="anchor" id="ggad3dc89e942e38d9f3af858a0269a820dae9d77830b6866e287417b6e1d983e971"></a>osThreadInactive</em> </td><td class="fielddoc">
<p>Inactive. </p>
<p>The thread is created but not actively used, or has been terminated (returned for static control block allocation, when memory pools are used <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad3dc89e942e38d9f3af858a0269a820da339313e26613bc12f66a852e2ff8745e">osThreadError</a> is returned as the control block is no longer valid) </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ggad3dc89e942e38d9f3af858a0269a820da59e286915944fe0e4d1ffdb1f2946f14"></a>osThreadReady</em> </td><td class="fielddoc">
<p>Ready. </p>
<p>The thread is ready for execution but not currently running. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ggad3dc89e942e38d9f3af858a0269a820dac4fe336e0790188fcf7d667372eca19d"></a>osThreadRunning</em> </td><td class="fielddoc">
<p>Running. </p>
<p>The thread is currently running. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ggad3dc89e942e38d9f3af858a0269a820daf0e992e354fba8695957c530226a4968"></a>osThreadBlocked</em> </td><td class="fielddoc">
<p>Blocked. </p>
<p>The thread is currently blocked (delayed, waiting for an event or suspended). </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ggad3dc89e942e38d9f3af858a0269a820dad5b2726c2d0228f4f1a76cf6b630963c"></a>osThreadTerminated</em> </td><td class="fielddoc">
<p>Terminated. </p>
<p>The thread is terminated and all its resources are not yet freed (applies to <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#joinable_threads">joinable threads).</a></p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ggad3dc89e942e38d9f3af858a0269a820da339313e26613bc12f66a852e2ff8745e"></a>osThreadError</em> </td><td class="fielddoc">
<p>Error. </p>
<p>The thread does not exist (has raised an error condition) and cannot be scheduled. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad3dc89e942e38d9f3af858a0269a820da8872f7e352370eb11ee772c7dcca6e6c"></a>osThreadReserved</em> </td><td class="fielddoc">
<p>Prevents enum down-size compiler optimization. </p>
</td></tr>
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<td class="memname">enum <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ec">osPriority_t</a></td>
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<p>The <b>osPriority_t</b> value specifies the priority for a thread. The default thread priority should be <em>osPriorityNormal</em>. If an active thread becomes ready that has a higher priority than the currently running thread then a thread switch occurs immediately. The system continues executing the thread with the higher priority.</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. Thus causing the high priority thread potentially beeing blocked forever by another thread with lower priority. To come over this issue the low priority thread controlling the resource should be treated as having the higher priority until it releases the resource.</p>
<dl class="section note"><dt>Note</dt><dd>Priority inheritance only applies to mutexes. </dd></dl>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca6c437c7185161a3bd1e7e4669dfa17a3"></a>osPriorityNone</em> </td><td class="fielddoc">
<p>No priority (not initialized). </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ggad4e3e0971b41f2d17584a8c6837342ecacd5864eac01a6916a7c866bb51a6aac1"></a>osPriorityIdle</em> </td><td class="fielddoc">
<p>Reserved for Idle thread. </p>
<p>This lowest priority should not be used for any other thread. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca61cb822239ac8f66dfbdc7291598a3d4"></a>osPriorityLow</em> </td><td class="fielddoc">
<p>Priority: low. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecaba2b6919f0b630c8c1b2c940e3bfadbe"></a>osPriorityLow1</em> </td><td class="fielddoc">
<p>Priority: low + 1. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca78ad5d00aa07a2b4bf30a639544f5507"></a>osPriorityLow2</em> </td><td class="fielddoc">
<p>Priority: low + 2. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca28ccb07942c16f5f5efefb6cf68a7f50"></a>osPriorityLow3</em> </td><td class="fielddoc">
<p>Priority: low + 3. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca5a4a4f26d5b220a968e221e854f69a81"></a>osPriorityLow4</em> </td><td class="fielddoc">
<p>Priority: low + 4. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecad69b8c14809bc5bdce4887f5a57d9353"></a>osPriorityLow5</em> </td><td class="fielddoc">
<p>Priority: low + 5. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecac0f188468664d06d4cd9e6e1ed351393"></a>osPriorityLow6</em> </td><td class="fielddoc">
<p>Priority: low + 6. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca5b151ebba7fdeb1baaa9b7b420890b7a"></a>osPriorityLow7</em> </td><td class="fielddoc">
<p>Priority: low + 7. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca193b650117c209b4a203954542bcc3e6"></a>osPriorityBelowNormal</em> </td><td class="fielddoc">
<p>Priority: below normal. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca9138da7187690b15f52d8e5729c18da5"></a>osPriorityBelowNormal1</em> </td><td class="fielddoc">
<p>Priority: below normal + 1. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca4f081d6735bf2f513338b07eddf13ae3"></a>osPriorityBelowNormal2</em> </td><td class="fielddoc">
<p>Priority: below normal + 2. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca19c013690d0d6bf3ac90707942be3fdf"></a>osPriorityBelowNormal3</em> </td><td class="fielddoc">
<p>Priority: below normal + 3. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca36931ad6cee5e4700e2c8622bdd2cd24"></a>osPriorityBelowNormal4</em> </td><td class="fielddoc">
<p>Priority: below normal + 4. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca0bcd9ad1e7a02e3bf03be7dcc8ece38e"></a>osPriorityBelowNormal5</em> </td><td class="fielddoc">
<p>Priority: below normal + 5. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecabd3cc7df5b92b752ddf1e7843a786c05"></a>osPriorityBelowNormal6</em> </td><td class="fielddoc">
<p>Priority: below normal + 6. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecab18e3bda7b5e418e309a62d6267ea14b"></a>osPriorityBelowNormal7</em> </td><td class="fielddoc">
<p>Priority: below normal + 7. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca45a2895ad30c79fb97de18cac7cc19f1"></a>osPriorityNormal</em> </td><td class="fielddoc">
<p>Priority: normal. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca3e70c19e03d5a54e66bd071f0776782c"></a>osPriorityNormal1</em> </td><td class="fielddoc">
<p>Priority: normal + 1. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca19e96f2b025b6462a43b1965043c8205"></a>osPriorityNormal2</em> </td><td class="fielddoc">
<p>Priority: normal + 2. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca402bd7ab26fb57c8cee8cf94168f4c91"></a>osPriorityNormal3</em> </td><td class="fielddoc">
<p>Priority: normal + 3. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca93ef07d3a107aeee6508bfd29ba3485d"></a>osPriorityNormal4</em> </td><td class="fielddoc">
<p>Priority: normal + 4. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca68f3f6fdaa639de300277802aa13a0ab"></a>osPriorityNormal5</em> </td><td class="fielddoc">
<p>Priority: normal + 5. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca8221eb0d059726a6309f1f2d0cdb6204"></a>osPriorityNormal6</em> </td><td class="fielddoc">
<p>Priority: normal + 6. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca049abd04f8951415407ec9d92bd9b80b"></a>osPriorityNormal7</em> </td><td class="fielddoc">
<p>Priority: normal + 7. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca17b36cd9cd38652c2bc6d4803990674b"></a>osPriorityAboveNormal</em> </td><td class="fielddoc">
<p>Priority: above normal. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecabfeafc713edfc7b9130aa5c762d68998"></a>osPriorityAboveNormal1</em> </td><td class="fielddoc">
<p>Priority: above normal + 1. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca901acf86070e06f5990b611734ee2562"></a>osPriorityAboveNormal2</em> </td><td class="fielddoc">
<p>Priority: above normal + 2. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecad566b876b64e6efdc3eba0fc04e54013"></a>osPriorityAboveNormal3</em> </td><td class="fielddoc">
<p>Priority: above normal + 3. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca6ccac37d7dae4586a2031966d36a63ec"></a>osPriorityAboveNormal4</em> </td><td class="fielddoc">
<p>Priority: above normal + 4. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecae36e8b38ee046a3104bcccabb10cf78c"></a>osPriorityAboveNormal5</em> </td><td class="fielddoc">
<p>Priority: above normal + 5. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca61e6ce27e1e0f34f2540b413b8a8b207"></a>osPriorityAboveNormal6</em> </td><td class="fielddoc">
<p>Priority: above normal + 6. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecadbbb0fed3ada6b9b50d4a628abc2a67d"></a>osPriorityAboveNormal7</em> </td><td class="fielddoc">
<p>Priority: above normal + 7. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca914433934143a9ba767e59577c56e6c2"></a>osPriorityHigh</em> </td><td class="fielddoc">
<p>Priority: high. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca17b7a7e6febf12444a84e90edfce36cb"></a>osPriorityHigh1</em> </td><td class="fielddoc">
<p>Priority: high + 1. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca40a120cf8bbc42e575455c027f3d9b03"></a>osPriorityHigh2</em> </td><td class="fielddoc">
<p>Priority: high + 2. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca0b15518b0b5321a29efa0b42b2f8c759"></a>osPriorityHigh3</em> </td><td class="fielddoc">
<p>Priority: high + 3. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecafe5a4f393fab04551ac7d93e80cdf0fb"></a>osPriorityHigh4</em> </td><td class="fielddoc">
<p>Priority: high + 4. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca5960841bfbdd959b163429e8502ea4e9"></a>osPriorityHigh5</em> </td><td class="fielddoc">
<p>Priority: high + 5. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca5714dda6effc1a3f8ec155d97e3e69bc"></a>osPriorityHigh6</em> </td><td class="fielddoc">
<p>Priority: high + 6. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca63ad0cc52a701ef3d9df52b59b995652"></a>osPriorityHigh7</em> </td><td class="fielddoc">
<p>Priority: high + 7. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca1485dec3702434a1ec3cb74c7a17a4af"></a>osPriorityRealtime</em> </td><td class="fielddoc">
<p>Priority: realtime. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecaf685a06b30f0635476e21347a986305b"></a>osPriorityRealtime1</em> </td><td class="fielddoc">
<p>Priority: realtime + 1. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecab832bd9de84e5eec2ecad69d085dadff"></a>osPriorityRealtime2</em> </td><td class="fielddoc">
<p>Priority: realtime + 2. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca3f2261e5e733e92844ae8c630f2f9eaa"></a>osPriorityRealtime3</em> </td><td class="fielddoc">
<p>Priority: realtime + 3. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecaf614e3dc966d559cd9d9d2a0f78ebe70"></a>osPriorityRealtime4</em> </td><td class="fielddoc">
<p>Priority: realtime + 4. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecaff84f31ceff203c711fb9476443507df"></a>osPriorityRealtime5</em> </td><td class="fielddoc">
<p>Priority: realtime + 5. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342eca80ae9d0dd256312c0c8f44af48316194"></a>osPriorityRealtime6</em> </td><td class="fielddoc">
<p>Priority: realtime + 6. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecaa76da6825c4bd31c4958200bc289103b"></a>osPriorityRealtime7</em> </td><td class="fielddoc">
<p>Priority: realtime + 7. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="ggad4e3e0971b41f2d17584a8c6837342eca4b4fa46c3ebaf4259662a0a0a3173b7f"></a>osPriorityISR</em> </td><td class="fielddoc">
<p>Reserved for ISR deferred thread. </p>
<p>This highest priority might be used by the RTOS implementation but must not be used for any user thread. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecae35f5e2f9c64ad346822521b643bdea4"></a>osPriorityError</em> </td><td class="fielddoc">
<p>System cannot determine priority or illegal priority. </p>
</td></tr>
<tr><td class="fieldname"><em><a class="anchor" id="gad4e3e0971b41f2d17584a8c6837342ecac86c171f8d466cced0cb1b03bb03343b"></a>osPriorityReserved</em> </td><td class="fielddoc">
<p>Prevents enum down-size compiler optimization. </p>
</td></tr>
</table>
</div>
</div>
<h2 class="groupheader">Function Documentation</h2>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> osThreadNew </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gadd51f99a6eb50b94eee75f27cae815eb">osThreadFunc_t</a> </td>
<td class="paramname"><em>func</em>, </td>
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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 class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#structosThreadAttr__t">osThreadAttr_t</a> * </td>
<td class="paramname"><em>attr</em> </td>
</tr>
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<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">func</td><td>thread function. </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>
<tr><td class="paramdir">[in]</td><td class="paramname">attr</td><td>thread attributes; NULL: default values. </td></tr>
</table>
</dd>
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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>
<p>The function <b>osThreadNew</b> starts a thread function by adding it to the list of active threads and sets it to state <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">READY</a>. Arguments for the thread function are passed using the parameter pointer <em>*argument</em>. When the priority of the created thread function is higher than the current <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">RUNNING</a> thread, the created thread function starts instantly and becomes the new <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">RUNNING</a> thread. Thread attributes are defined with the parameter pointer <em>attr</em>. Attributes include settings for thread priority, stack size, or memory allocation.</p>
<p>The function can be safely called before the RTOS is started (call to <a class="el" href="group__CMSIS__RTOS__KernelCtrl.html#ga9ae2cc00f0d89d7b6a307bba942b5221">osKernelStart</a>), but not before it is initialized (call to <a class="el" href="group__CMSIS__RTOS__KernelCtrl.html#gae818f6611d25ba3140bede410a52d659">osKernelInitialize</a>).</p>
<p>The function <b>osThreadNew</b> returns the pointer to the thread object identifier or <span class="XML-Token">NULL</span> in case of an error.</p>
<dl class="section note"><dt>Note</dt><dd>Cannot be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>.</dd></dl>
<p><b>Code</b> <b>Example</b> </p>
<p>Refer to the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#thread_examples">Thread Examples</a> section. </p>
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<td class="memname">const char * osThreadGetName </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> </td>
<td class="paramname"><em>thread_id</em></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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">osThreadGetId</a>. </td></tr>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>name as null-terminated string.</dd></dl>
<p>The function <b>osThreadGetName</b> returns the pointer to the name string of the thread identified by parameter <em>thread_id</em> or <span class="XML-Token">NULL</span> in case of an error.</p>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.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="keywordtype">void</span> ThreadGetName_example (<span class="keywordtype">void</span>) {</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> thread_id = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">osThreadGetId</a>();</div>
<div class="line"> <span class="keyword">const</span> <span class="keywordtype">char</span>* name = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gac3230f3a55a297514b013ebf38f27e0a">osThreadGetName</a>(thread_id);</div>
<div class="line"> <span class="keywordflow">if</span> (name == NULL) {</div>
<div class="line"> <span class="comment">// Failed to get the thread name; 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#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> osThreadGetId </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</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>
<p>The function <b>osThreadGetId</b> returns the thread object ID of the currently running thread or NULL in case of an error.</p>
<dl class="section note"><dt>Note</dt><dd>This function may be called from <a class="el" href="theory_of_operation.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="keywordtype">void</span> ThreadGetId_example (<span class="keywordtype">void</span>) {</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</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#ga8df03548e89fbc56402a5cd584a505da">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</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#gad3dc89e942e38d9f3af858a0269a820d">osThreadState_t</a> osThreadGetState </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> </td>
<td class="paramname"><em>thread_id</em></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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">osThreadGetId</a>. </td></tr>
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</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>current thread state of the specified thread.</dd></dl>
<p>The function <b>osThreadGetState</b> returns the state of the thread identified by parameter <em>thread_id</em>. In case it fails or if it is called from an ISR, it will return <code>osThreadError</code>, otherwise it returns the thread state (refer to <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad3dc89e942e38d9f3af858a0269a820d">osThreadState_t</a> for the list of thread states).</p>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. </dd></dl>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> osThreadSetPriority </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</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#gad4e3e0971b41f2d17584a8c6837342ec">osPriority_t</a> </td>
<td class="paramname"><em>priority</em> </td>
</tr>
<tr>
<td></td>
<td>)</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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">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>
<p>The function <b>osThreadSetPriority</b> changes the priority of an active thread specified by the parameter <em>thread_id</em> to the priority specified by the parameter <em>priority</em>.</p>
<p>Possible <a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> return values:</p>
<ul>
<li><em>osOK:</em> the priority of the specified thread has been changed successfully.</li>
<li><em>osErrorParameter:</em> <em>thread_id</em> is <span class="XML-Token">NULL</span> or invalid or <em>priority</em> is incorrect.</li>
<li><em>osErrorResource:</em> the thread is in an invalid state.</li>
<li><em>osErrorISR:</em> the function <b>osThreadSetPriority</b> cannot be called from interrupt service routines.</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.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__os2_8h.html">cmsis_os2.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__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> id; <span class="comment">// id for the currently running thread</span></div>
<div class="line"> osStatus_t 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#ga8df03548e89fbc56402a5cd584a505da">osThreadGetId</a>(); <span class="comment">// Obtain ID of current running thread</span></div>
<div class="line"> </div>
<div class="line"> status = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga861a420fb2d643115b06622903fb3bfb">osThreadSetPriority</a>(<span class="keywordtype">id</span>, <a class="code" href="cmsis__os2_8h.html#gad4e3e0971b41f2d17584a8c6837342eca193b650117c209b4a203954542bcc3e6">osPriorityBelowNormal</a>); <span class="comment">// Set thread priority</span></div>
<div class="line"> <span class="keywordflow">if</span> (status == <a class="code" href="cmsis__os2_8h.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813ea9e1c9e2550bb4de8969a935acffc968f">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">}</div>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ec">osPriority_t</a> osThreadGetPriority </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">osThreadGetId</a>. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>current priority value of the specified thread.</dd></dl>
<p>The function <b>osThreadGetPriority</b> returns the priority of an active thread specified by the parameter <em>thread_id</em>.</p>
<p>Possible <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gad4e3e0971b41f2d17584a8c6837342ec">osPriority_t</a> return values:</p>
<ul>
<li><em>priority:</em> the priority of the specified thread.</li>
<li><em>osPriorityError:</em> priority cannot be determined or is illegal. It is also returned when the function is called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>.</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.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__os2_8h.html">cmsis_os2.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__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</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#gad4e3e0971b41f2d17584a8c6837342ec">osPriority_t</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#ga8df03548e89fbc56402a5cd584a505da">osThreadGetId</a>(); <span class="comment">// Obtain ID of current running thread</span></div>
<div class="line"> priority = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga0aeaf349604f456e68e78f9d3b42e44b">osThreadGetPriority</a>(<span class="keywordtype">id</span>); <span class="comment">// Obtain the thread priority</span></div>
<div class="line">}</div>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</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>
<p>The function <b>osThreadYield</b> passes control to the next thread with the same priority that is in the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">READY</a> state. If there is no other thread with the same priority in state <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">READY</a>, then the current thread continues execution and no thread switch occurs. <b>osThreadYield</b> does not set the thread to state <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">BLOCKED</a>. Thus no thread with a lower priority will be scheduled even if threads in state <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">READY</a> are available.</p>
<p>Possible <a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> return values:</p>
<ul>
<li><em>osOK:</em> control has been passed to the next thread successfully.</li>
<li><em>osError:</em> an unspecified error has occurred.</li>
<li><em>osErrorISR:</em> the function <b>osThreadYield</b> cannot be called from interrupt service routines.</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. </dd>
<dd>
This function <b>has no impact</b> when called when the kernel is locked, see <a class="el" href="group__CMSIS__RTOS__KernelCtrl.html#ga948609ee930d9b38336b9e1c2a4dfe12">osKernelLock</a>.</dd></dl>
<p><b>Code Example</b> </p>
<div class="fragment"><div class="line"><span class="preprocessor">#include "<a class="code" href="cmsis__os2_8h.html">cmsis_os2.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"> osStatus_t 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#gad01c7ec26535b1de6b018bb9466720e2">osThreadYield</a>();</div>
<div class="line"> <span class="keywordflow">if</span> (status != <a class="code" href="cmsis__os2_8h.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813ea9e1c9e2550bb4de8969a935acffc968f">osOK</a>) {</div>
<div class="line"> <span class="comment">// an error occurred</span></div>
<div class="line"> }</div>
<div class="line"> }</div>
<div class="line">}</div>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> osThreadSuspend </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">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>
<p>The function <b>osThreadSuspend</b> suspends the execution of the thread identified by parameter <em>thread_id</em>. The thread is put into the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">BLOCKED</a> state (<a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad3dc89e942e38d9f3af858a0269a820daf0e992e354fba8695957c530226a4968">osThreadBlocked</a>). Suspending the running thread will cause a context switch to another thread in <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">READY</a> state immediately. The suspended thread is not executed until explicitly resumed with the function <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3dbad90eff394b02de76a452c84c5d80">osThreadResume</a>.</p>
<p>Threads that are already <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">BLOCKED</a> are removed from any wait list and become ready when they are resumed. Thus it is not recommended to suspend an already blocked thread.</p>
<p>Possible <a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> return values:</p>
<ul>
<li><em>osOK:</em> the thread has been suspended successfully.</li>
<li><em>osErrorParameter:</em> <em>thread_id</em> is <span class="XML-Token">NULL</span> or invalid.</li>
<li><em>osErrorResource:</em> the thread is in an invalid state.</li>
<li><em>osErrorISR:</em> the function <b>osThreadSuspend</b> cannot be called from interrupt service routines.</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. </dd>
<dd>
This function <b>must not</b> be called to suspend the running thread when the kernel is locked, i.e. <a class="el" href="group__CMSIS__RTOS__KernelCtrl.html#ga948609ee930d9b38336b9e1c2a4dfe12">osKernelLock</a>. </dd></dl>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> osThreadResume </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">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>
<p>The function <b>osThreadResume</b> puts the thread identified by parameter <em>thread_id</em> (which has to be in <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">BLOCKED</a> state) back to the <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">READY</a> state. If the resumed thread has a higher priority than the running thread a context switch occurs immediately.</p>
<p>The thread becomes ready regardless of the reason why the thread was blocked. Thus it is not recommended to resume a thread not suspended by <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa9de419d0152bf77e9bbcd1f369fb990">osThreadSuspend</a>.</p>
<p>Functions that will put a thread into <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">BLOCKED</a> state are: <a class="el" href="group__CMSIS__RTOS__EventFlags.html#ga52acb34a8322e58020227344fe662b4e">osEventFlagsWait</a> and <a class="el" href="group__CMSIS__RTOS__ThreadFlagsMgmt.html#gac11542ad6300b600f872fc96e340ec2b">osThreadFlagsWait</a>, <a class="el" href="group__CMSIS__RTOS__Wait.html#gaf6055a51390ef65b6b6edc28bf47322e">osDelay</a> and <a class="el" href="group__CMSIS__RTOS__Wait.html#ga3c807924c2d6d43bc2ffb49da3f7f3a1">osDelayUntil</a>, <a class="el" href="group__CMSIS__RTOS__MutexMgmt.html#gabc54686ea0fc281823b1763422d2a924">osMutexAcquire</a> and <a class="el" href="group__CMSIS__RTOS__SemaphoreMgmt.html#ga7e94c8b242a0c81f2cc79ec22895c87b">osSemaphoreAcquire</a>, <a class="el" href="group__CMSIS__RTOS__Message.html#gad90d4959466a7a65105061da8256ab9e">osMessageQueueGet</a>, <a class="el" href="group__CMSIS__RTOS__PoolMgmt.html#ga8ead54e99ccb8f112356c88f99d38fbe">osMemoryPoolAlloc</a>, <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a>, <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa9de419d0152bf77e9bbcd1f369fb990">osThreadSuspend</a>.</p>
<p>Possible <a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> return values:</p>
<ul>
<li><em>osOK:</em> the thread has been resumed successfully.</li>
<li><em>osErrorParameter:</em> <em>thread_id</em> is <span class="XML-Token">NULL</span> or invalid.</li>
<li><em>osErrorResource:</em> the thread is in an invalid state.</li>
<li><em>osErrorISR:</em> the function <b>osThreadResume</b> cannot be called from interrupt service routines.</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. </dd>
<dd>
This function <b>may be</b> called when kernel is locked (<a class="el" href="group__CMSIS__RTOS__KernelCtrl.html#ga948609ee930d9b38336b9e1c2a4dfe12">osKernelLock</a>). Under this circumstances a potential context switch is delayed until the kernel gets unlocked, i.e. <a class="el" href="group__CMSIS__RTOS__KernelCtrl.html#gaf401728b4657456198c33fe75f8d6720">osKernelUnlock</a> or <a class="el" href="group__CMSIS__RTOS__KernelCtrl.html#gae7d0a71b9586cbbb49fcbdf6a04f0289">osKernelRestoreLock</a>. </dd></dl>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> osThreadDetach </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">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>
<p>The function <b>osThreadDetach</b> changes the attribute of a thread (specified by <em>thread_id</em>) to <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa9336c1073858d6b118e2e011636246f">osThreadDetached</a>. Detached threads are not joinable with <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a>. When a detached thread is terminated, all resources are returned to the system. The behavior of <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaaad14cd9547341ea8109dc4e8540f1dc">osThreadDetach</a> on an already detached thread is undefined.</p>
<p>Possible <a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> return values:</p>
<ul>
<li><em>osOK:</em> the attribute of the specified thread has been changed to detached successfully.</li>
<li><em>osErrorParameter:</em> <em>thread_id</em> is <span class="XML-Token">NULL</span> or invalid.</li>
<li><em>osErrorResource:</em> the thread is in an invalid state.</li>
<li><em>osErrorISR:</em> the function <b>osThreadDetach</b> cannot be called from interrupt service routines.</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. </dd></dl>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> osThreadJoin </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> </td>
<td class="paramname"><em>thread_id</em></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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">osThreadGetId</a>. </td></tr>
</table>
</dd>
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<dl class="section return"><dt>Returns</dt><dd>status code that indicates the execution status of the function.</dd></dl>
<p>The function <b>osThreadJoin</b> waits for the thread specified by <em>thread_id</em> to terminate. If that thread has already terminated, then <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a> returns immediately. The thread must be joinable. By default threads are created with the attribute <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa9336c1073858d6b118e2e011636246f">osThreadDetached</a>.</p>
<p>Possible <a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> return values:</p>
<ul>
<li><em>osOK:</em> if the thread has already been terminated and joined or once the thread has been terminated and the join operations succeeds.</li>
<li><em>osErrorParameter:</em> <em>thread_id</em> is <span class="XML-Token">NULL</span> or invalid.</li>
<li><em>osErrorResource:</em> the thread is in an invalid state (ex: not joinable).</li>
<li><em>osErrorISR:</em> the function <b>osThreadJoin</b> cannot be called from interrupt service routines.</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. <br/>
</dd>
<dd>
Only one thread shall call <b>osThreadJoin</b> to join the target thread. If multiple threads try to join simultaneously with the same thread, the results are undefined. </dd></dl>
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<td class="memname"><a class="el" href="cmsis__os2_8h.html#a153a4a31b276a9758959580538720a51">__NO_RETURN</a> void osThreadExit </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
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<p>The function <b>osThreadExit</b> terminates the calling thread. This allows the thread to be synchronized with <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a>.</p>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>.</dd></dl>
<p><b>Code</b> <b>Example</b> </p>
<div class="fragment"><div class="line"><a class="code" href="cmsis__os2_8h.html#a153a4a31b276a9758959580538720a51">__NO_RETURN</a> <span class="keywordtype">void</span> worker (<span class="keywordtype">void</span> *argument) {</div>
<div class="line"> <span class="comment">// do something</span></div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__Wait.html#gaf6055a51390ef65b6b6edc28bf47322e">osDelay</a>(1000U);</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaddaa452dd7610e4096647a566d3556fc">osThreadExit</a>();</div>
<div class="line">}</div>
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<td class="memname"><a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> osThreadTerminate </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">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>
<p>The function <b>osThreadTerminate</b> removes the thread specified by parameter <em>thread_id</em> from the list of active threads. If the thread is currently <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">RUNNING</a>, the thread terminates and the execution continues with the next <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">READY</a> thread. If no such thread exists, the function will not terminate the running thread, but return <em>osErrorResource</em>.</p>
<p>Possible <a class="el" href="group__CMSIS__RTOS__Definitions.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813e">osStatus_t</a> return values:</p>
<ul>
<li><em>osOK:</em> the specified thread has been removed from the active thread list successfully.</li>
<li><em>osErrorParameter:</em> <em>thread_id</em> is <span class="XML-Token">NULL</span> or invalid.</li>
<li><em>osErrorResource:</em> the thread is in an invalid state or no other <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ThreadStates">READY</a> thread exists.</li>
<li><em>osErrorISR:</em> the function <b>osThreadTerminate</b> cannot be called from interrupt service routines.</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.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>
<dd>
<b>osThreadTerminate</b> destroys non-joinable threads and removes their thread_id from the system. Subsequent access to the thread_id (for example <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gacc0a98b42f0a5928e12dc91dc76866b9">osThreadGetState</a>) will return an <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad3dc89e942e38d9f3af858a0269a820da339313e26613bc12f66a852e2ff8745e">osThreadError</a>. Joinable threads will not be destroyed and return the status <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ggad3dc89e942e38d9f3af858a0269a820dad5b2726c2d0228f4f1a76cf6b630963c">osThreadTerminated</a> until they are joined with <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga3fca90fb0679afeb968aa8c3d5874487">osThreadJoin</a>.</dd></dl>
<p><b>Code Example</b> </p>
<div class="fragment"><div class="line"><span class="preprocessor">#include "<a class="code" href="cmsis__os2_8h.html">cmsis_os2.h</a>"</span></div>
<div class="line"> </div>
<div class="line"><span class="keywordtype">void</span> Thread_1 (<span class="keywordtype">void</span> *arg); <span class="comment">// function prototype for 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"> osStatus_t status;</div>
<div class="line"> <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> id;</div>
<div class="line"> </div>
<div class="line"> <span class="keywordtype">id</span> = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a>(Thread_1, NULL, NULL); <span class="comment">// create the thread</span></div>
<div class="line"> <span class="comment">// do something</span></div>
<div class="line"> status = <a class="code" href="group__CMSIS__RTOS__ThreadMgmt.html#ga2f8ba6dba6e9c065a6e236ffd410d74a">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="cmsis__os2_8h.html#ga6c0dbe6069e4e7f47bb4cd32ae2b813ea9e1c9e2550bb4de8969a935acffc968f">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>
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<td class="memname">uint32_t osThreadGetStackSize </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> </td>
<td class="paramname"><em>thread_id</em></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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">osThreadGetId</a>. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>stack size in bytes.</dd></dl>
<p>The function <b>osThreadGetStackSize</b> returns the stack size of the thread specified by parameter <em>thread_id</em>. In case of an error, it returns <span class="XML-Token">0</span>.</p>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. </dd></dl>
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<td class="memname">uint32_t osThreadGetStackSpace </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</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#ga48d68b8666d99d28fa646ee1d2182b8f">osThreadNew</a> or <a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#ga8df03548e89fbc56402a5cd584a505da">osThreadGetId</a>. </td></tr>
</table>
</dd>
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<dl class="section return"><dt>Returns</dt><dd>remaining stack space in bytes.</dd></dl>
<p>The function <b>osThreadGetStackSpace</b> returns the size of unused stack space for the thread specified by parameter <em>thread_id</em>. Stack watermark recording during execution needs to be enabled (refer to <a class="el" href="config_rtx5.html#threadConfig">Thread Configuration</a>). In case of an error, it returns <span class="XML-Token">0</span>.</p>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. </dd></dl>
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<td class="memname">uint32_t osThreadGetCount </td>
<td>(</td>
<td class="paramtype">void </td>
<td class="paramname"></td><td>)</td>
<td></td>
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<dl class="section return"><dt>Returns</dt><dd>number of active threads.</dd></dl>
<p>The function <b>osThreadGetCount</b> returns the number of active threads or <span class="XML-Token">0</span> in case of an error.</p>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. </dd></dl>
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<td class="memname">uint32_t osThreadEnumerate </td>
<td>(</td>
<td class="paramtype"><a class="el" href="group__CMSIS__RTOS__ThreadMgmt.html#gaa6c32fe2a3e0a2e01f212d55b02e51c7">osThreadId_t</a> * </td>
<td class="paramname"><em>thread_array</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">uint32_t </td>
<td class="paramname"><em>array_items</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
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<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramdir">[out]</td><td class="paramname">thread_array</td><td>pointer to array for retrieving thread IDs. </td></tr>
<tr><td class="paramdir">[in]</td><td class="paramname">array_items</td><td>maximum number of items in array for retrieving thread IDs. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>number of enumerated threads.</dd></dl>
<p>The function <b>osThreadEnumerate</b> returns the number of enumerated threads or <span class="XML-Token">0</span> in case of an error.</p>
<dl class="section note"><dt>Note</dt><dd>This function <b>cannot</b> be called from <a class="el" href="theory_of_operation.html#CMSIS_RTOS_ISR_Calls">Interrupt Service Routines</a>. </dd></dl>
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