Support for multi-threading. More...

Detailed Description

Support for multi-threading.

Priorities

As RIOT is using a fixed priority scheduling algorithm, threads are scheduled based on their priority. The priority is fixed for every thread and specified during the thread's creation by the priority parameter.

The lower the priority value, the higher the priority of the thread, with 0 being the highest possible priority.

The lowest possible priority is THREAD_PRIORITY_IDLE - 1.

Note: Assigning the same priority to two or more threads is usually not a good idea. A thread in RIOT may run until it yields (thread_yield) or another thread with higher priority is runnable (STATUS_ON_RUNQUEUE) again. Multiple threads with the same priority will therefore be scheduled cooperatively: when one of them is running, all others with the same priority depend on it to yield (or be interrupted by a thread with higher priority). This may make it difficult to determine when which of them gets scheduled and how much CPU time they will get. In most applications, the number of threads in application is significantly smaller than the number of available priorities, so assigning distinct priorities per thread should not be a problem. Only assign the same priority to multiple threads if you know what you are doing!

Thread Behavior

In addition to the priority, flags can be used when creating a thread to alter the thread's behavior after creation. The following flags are available:

Flags	Description
THREAD_CREATE_SLEEPING	the thread will sleep until woken up manually
THREAD_CREATE_WOUT_YIELD	the thread might not run immediately after creation
THREAD_CREATE_STACKTEST	measures the stack's memory usage

Thread creation

Creating a new thread is internally done in two steps:

the new thread's stack is initialized depending on the platform
the new thread is added to the scheduler and the scheduler is run (if not indicated otherwise)

Note: Creating threads from within an ISR is currently supported, however it is considered to be a bad programming practice and we strongly discourage you from doing so.

Usage

#include "thread.h"
 
char rcv_thread_stack[THREAD_STACKSIZE_MAIN];
 
void *rcv_thread(void *arg)
{
    (void) arg;
    msg_t m;
 
    while (1) {
        msg_receive(&m);
        printf("Got msg from %" PRIkernel_pid "\n", m.sender_pid);
    }
 
    return NULL;
}
 
int main(void)
{
    thread_create(rcv_thread_stack, sizeof(rcv_thread_stack),
                  THREAD_PRIORITY_MAIN - 1, THREAD_CREATE_STACKTEST,
                  rcv_thread, NULL, "rcv_thread");
}

Reading from the top down, you can see that first, stack memory for our thread rcv_thread is preallocated, followed by an implementation of the thread's function. Communication between threads is done using Messaging / IPC. In this case, rcv_thread will print the process id of each thread that sent a message to rcv_thread.

After it has been properly defined, rcv_thread is created with a call to thread_create() in main(). It is assigned a priority of THREAD_PRIORITY_MAIN - 1, i.e. a slightly higher priority than the main thread. Since neither the THREAD_CREATE_SLEEPING nor the THREAD_CREATE_WOUT_YIELD flag is set, rcv_thread will be executed immediately.

Note: If the messages to the thread are sent using msg_try_send() or from an ISR, activate your thread's message queue by calling msg_init_queue() to prevent messages from being dropped when they can't be handled right away. The same applies if you'd like msg_send() to your thread to be non-blocking. For more details, see the Messaging documentation.

Files
file	thread.h
	Threading API.

Data Structures
struct	_thread
	`thread_t` holds thread's context data. More...

Macros
#define	CONFIG_THREAD_NAMES
	This global macro enable storage of thread names to help developers. More...

#define	THREAD_STACKSIZE_DEFAULT
	A reasonable default stack size that will suffice most smaller tasks. More...

#define	THREAD_STACKSIZE_IDLE
	Size of the idle task's stack in bytes. More...

#define	THREAD_EXTRA_STACKSIZE_PRINTF
	Size of the task's printf stack in bytes. More...

#define	THREAD_STACKSIZE_MAIN
	Size of the main task's stack in bytes. More...

#define	THREAD_STACKSIZE_LARGE (THREAD_STACKSIZE_MEDIUM * 2)
	Large stack size.

#define	THREAD_STACKSIZE_MEDIUM THREAD_STACKSIZE_DEFAULT
	Medium stack size.

#define	THREAD_STACKSIZE_SMALL (THREAD_STACKSIZE_MEDIUM / 2)
	Small stack size.

#define	THREAD_STACKSIZE_TINY (THREAD_STACKSIZE_MEDIUM / 4)
	Tiny stack size.

#define	THREAD_STACKSIZE_MINIMUM (sizeof(thread_t))
	Minimum stack size.

#define	THREAD_PRIORITY_MIN (SCHED_PRIO_LEVELS - 1)
	Least priority a thread can have.

#define	THREAD_PRIORITY_IDLE (THREAD_PRIORITY_MIN)
	Priority of the idle thread.

#define	THREAD_PRIORITY_MAIN
	Priority of the main thread. More...

Typedefs
typedef void (	thread_task_func_t) (void *arg)
	Prototype for a thread entry function.

Functions
kernel_pid_t	thread_create (char stack, int stacksize, uint8_t priority, int flags, thread_task_func_t task_func, void arg, const char *name)
	Creates a new thread. More...

static thread_t *	thread_get_unchecked (kernel_pid_t pid)
	Retrieve a thread control block by PID. More...

static thread_t *	thread_get (kernel_pid_t pid)
	Retrieve a thread control block by PID. More...

thread_status_t	thread_getstatus (kernel_pid_t pid)
	Returns the status of a process. More...

void	thread_sleep (void)
	Puts the current thread into sleep mode. More...

void	thread_yield (void)
	Lets current thread yield. More...

void	thread_yield_higher (void)
	Lets current thread yield in favor of a higher prioritized thread. More...

void	thread_zombify (void)
	Puts the current thread into zombie state. More...

int	thread_kill_zombie (kernel_pid_t pid)
	Terminates zombie thread. More...

int	thread_wakeup (kernel_pid_t pid)
	Wakes up a sleeping thread. More...

static kernel_pid_t	thread_getpid (void)
	Returns the process ID of the currently running thread. More...

static thread_t *	thread_get_active (void)
	Returns a pointer to the Thread Control Block of the currently running thread. More...

char *	thread_stack_init (thread_task_func_t task_func, void arg, void stack_start, int stack_size)
	Gets called upon thread creation to set CPU registers. More...

void	thread_add_to_list (list_node_t list, thread_t thread)
	Add thread to list, sorted by priority (internal) More...

const char *	thread_getname (kernel_pid_t pid)
	Returns the name of a process. More...

uintptr_t	thread_measure_stack_free (const char *stack)
	Measures the stack usage of a stack. More...

int	thread_isr_stack_usage (void)
	Get the number of bytes used on the ISR stack.

void *	thread_isr_stack_pointer (void)
	Get the current ISR stack pointer.

void *	thread_isr_stack_start (void)
	Get the start of the ISR stack.

void	thread_stack_print (void)
	Print the current stack to stdout.

void	thread_print_stack (void)
	Prints human readable, ps-like thread information for debugging purposes.

static int	thread_has_msg_queue (const volatile struct _thread *thread)
	Checks if a thread has an initialized message queue. More...

Optional flags for controlling a threads initial state
#define	THREAD_CREATE_SLEEPING (1)
	Set the new thread to sleeping. More...

#define	THREAD_AUTO_FREE (2)
	Currently not implemented.

#define	THREAD_CREATE_WOUT_YIELD (4)
	Do not automatically call thread_yield() after creation: the newly created thread might not run immediately. More...

#define	THREAD_CREATE_STACKTEST (8)
	Write markers into the thread's stack to measure stack usage (for debugging and profiling purposes)

Macro Definition Documentation

◆ CONFIG_THREAD_NAMES

#define CONFIG_THREAD_NAMES

This global macro enable storage of thread names to help developers.

     To activate it set environment variable `THREAD_NAMES=1`, or use Kconfig.
     It is automatically enabled if `DEVELHELP` is.

Definition at line 143 of file thread.h.

◆ THREAD_CREATE_SLEEPING

#define THREAD_CREATE_SLEEPING (1)

Set the new thread to sleeping.

It must be woken up manually.

Definition at line 314 of file thread.h.

◆ THREAD_CREATE_WOUT_YIELD

#define THREAD_CREATE_WOUT_YIELD (4)

Do not automatically call thread_yield() after creation: the newly created thread might not run immediately.

Purely for optimization. Any other context switch (i.e. an interrupt) can still start the thread at any time!

Definition at line 327 of file thread.h.

◆ THREAD_EXTRA_STACKSIZE_PRINTF

#define THREAD_EXTRA_STACKSIZE_PRINTF

Size of the task's printf stack in bytes.

Note: This value must be defined by the CPU specific implementation, please take a look at cpu/$CPU/include/cpu_conf.h

Definition at line 239 of file thread.h.

◆ THREAD_PRIORITY_MAIN

#define THREAD_PRIORITY_MAIN

Value:

(THREAD_PRIORITY_MIN - \

(SCHED_PRIO_LEVELS / 2))

Priority of the main thread.

Definition at line 303 of file thread.h.

◆ THREAD_STACKSIZE_DEFAULT

#define THREAD_STACKSIZE_DEFAULT

A reasonable default stack size that will suffice most smaller tasks.

Note: This value must be defined by the CPU specific implementation, please take a look at cpu/$CPU/include/cpu_conf.h

Definition at line 211 of file thread.h.

◆ THREAD_STACKSIZE_IDLE

#define THREAD_STACKSIZE_IDLE

Size of the idle task's stack in bytes.

Note: This value must be defined by the CPU specific implementation, please take a look at cpu/$CPU/include/cpu_conf.h

Definition at line 225 of file thread.h.

◆ THREAD_STACKSIZE_MAIN

#define THREAD_STACKSIZE_MAIN

Value:

(THREAD_STACKSIZE_DEFAULT + \

THREAD_EXTRA_STACKSIZE_PRINTF)

Size of the main task's stack in bytes.

Definition at line 247 of file thread.h.

Function Documentation

◆ thread_add_to_list()

void thread_add_to_list	(	list_node_t *	list,
		thread_t *	thread
	)

Add thread to list, sorted by priority (internal)

This will add thread to list sorted by the thread priority. It reuses the thread's rq_entry field. Used internally by msg and mutex implementations.

Note: Only use for threads not on any runqueue and with interrupts disabled.

Parameters

[in]	list	ptr to list root node
[in]	thread	thread to add

◆ thread_create()

kernel_pid_t thread_create	(	char *	stack,
		int	stacksize,
		uint8_t	priority,
		int	flags,
		thread_task_func_t	task_func,
		void *	arg,
		const char *	name
	)

Creates a new thread.

For an in-depth discussion of thread priorities, behavior and and flags, see Threading.

Note: Avoid assigning the same priority to two or more threads.; Creating threads from within an ISR is currently supported, however it is considered to be a bad programming practice and we strongly discourage you from doing so.

Parameters

[out]	stack	start address of the preallocated stack memory
[in]	stacksize	the size of the thread's stack in bytes
[in]	priority	priority of the new thread, lower mean higher priority
[in]	flags	optional flags for the creation of the new thread
[in]	task_func	pointer to the code that is executed in the new thread
[in]	arg	the argument to the function
[in]	name	a human readable descriptor for the thread

Returns: PID of newly created task on success; -EINVAL, if priority is greater than or equal to SCHED_PRIO_LEVELS; -EOVERFLOW, if there are too many threads running already

◆ thread_get()

static thread_t* thread_get ( kernel_pid_t pid )

inlinestatic

Retrieve a thread control block by PID.

This is a bound-checked variant of accessing sched_threads[pid] directly. If you know that the PID is valid, then don't use this function.

Parameters

[in] pid Thread to retrieve.

Returns: NULL if the PID is invalid or there is no such thread.

Definition at line 386 of file thread.h.

◆ thread_get_active()

static thread_t* thread_get_active ( void )

inlinestatic

Returns a pointer to the Thread Control Block of the currently running thread.

Returns: Pointer to the TCB of the currently running thread, or NULL if no thread is running

Definition at line 486 of file thread.h.

◆ thread_get_unchecked()

static thread_t* thread_get_unchecked ( kernel_pid_t pid )

inlinestatic

Retrieve a thread control block by PID.

Precondition: pid is valid

Parameters

[in] pid Thread to retrieve.

Returns: NULL if the PID is invalid or there is no such thread.

Definition at line 374 of file thread.h.

◆ thread_getname()

const char* thread_getname ( kernel_pid_t pid )

Returns the name of a process.

Note: when compiling without DEVELHELP, this always returns NULL!

Parameters

[in] pid the PID of the thread to get the name from

Returns: the threads name; NULL if pid is unknown

◆ thread_getpid()

static kernel_pid_t thread_getpid ( void )

inlinestatic

Returns the process ID of the currently running thread.

Returns: obviously you are not a golfer.

Definition at line 472 of file thread.h.

◆ thread_getstatus()

thread_status_t thread_getstatus ( kernel_pid_t pid )

Returns the status of a process.

Parameters

[in] pid the PID of the thread to get the status from

Returns: status of the thread; STATUS_NOT_FOUND if pid is unknown

◆ thread_has_msg_queue()

static int thread_has_msg_queue ( const volatile struct _thread * thread )

inlinestatic

Checks if a thread has an initialized message queue.

See also: msg_init_queue()

Parameters

[in] thread The thread to check for

Returns: == 0, if thread has no initialized message queue; != 0, if thread has its message queue initialized

Definition at line 581 of file thread.h.

◆ thread_kill_zombie()

int thread_kill_zombie ( kernel_pid_t pid )

Terminates zombie thread.

Parameters

[in] pid the PID of the thread to terminate

Returns: 1 on success; STATUS_NOT_FOUND if pid is unknown or not a zombie

◆ thread_measure_stack_free()

uintptr_t thread_measure_stack_free ( const char * stack )

Measures the stack usage of a stack.

Only works if the thread was created with the flag THREAD_CREATE_STACKTEST.

Parameters

[in] stack the stack you want to measure. Try thread_get_active()->stack_start

Returns: the amount of unused space of the thread's stack

◆ thread_sleep()

void thread_sleep ( void )

Puts the current thread into sleep mode.

Has to be woken up externally.

◆ thread_stack_init()

char* thread_stack_init	(	thread_task_func_t	task_func,
		void *	arg,
		void *	stack_start,
		int	stack_size
	)

Gets called upon thread creation to set CPU registers.

Parameters

[in]	task_func	First function to call within the thread
[in]	arg	Argument to supply to task_func
[in]	stack_start	Start address of the stack
[in]	stack_size	Stack size

Returns: stack pointer

◆ thread_wakeup()

int thread_wakeup ( kernel_pid_t pid )

Wakes up a sleeping thread.

Parameters

[in] pid the PID of the thread to be woken up

Returns: 1 on success; STATUS_NOT_FOUND if pid is unknown or not sleeping

◆ thread_yield()

void thread_yield ( void )

Lets current thread yield.

The current thread will resume operation immediately, if there is no other ready thread with the same or a higher priority.

Differently from thread_yield_higher() the current thread will be put to the end of the thread's in its priority class.

See also: thread_yield_higher()

◆ thread_yield_higher()

void thread_yield_higher ( void )

Lets current thread yield in favor of a higher prioritized thread.

The current thread will resume operation immediately, if there is no other ready thread with a higher priority.

Differently from thread_yield() the current thread will be scheduled next in its own priority class, i.e. it stays the first thread in its priority class.

See also: thread_yield()

◆ thread_zombify()

void thread_zombify ( void )

Puts the current thread into zombie state.

Does nothing when in ISR. A thread in zombie state will never be scheduled again, but its scheduler entry and stack will be kept. A zombie state thread is supposed to be cleaned up by thread_kill_zombie().

Detailed Description

Priorities

Thread Behavior

Thread creation

Usage

Files

Data Structures

Macros

Typedefs

Functions

Optional flags for controlling a threads initial state

Macro Definition Documentation

◆ CONFIG_THREAD_NAMES

◆ THREAD_CREATE_SLEEPING

◆ THREAD_CREATE_WOUT_YIELD

◆ THREAD_EXTRA_STACKSIZE_PRINTF

◆ THREAD_PRIORITY_MAIN

◆ THREAD_STACKSIZE_DEFAULT

◆ THREAD_STACKSIZE_IDLE

◆ THREAD_STACKSIZE_MAIN

Function Documentation

◆ thread_add_to_list()

◆ thread_create()

◆ thread_get()

◆ thread_get_active()

◆ thread_get_unchecked()

◆ thread_getname()

◆ thread_getpid()

◆ thread_getstatus()

◆ thread_has_msg_queue()

◆ thread_kill_zombie()

◆ thread_measure_stack_free()

◆ thread_sleep()

◆ thread_stack_init()

◆ thread_wakeup()

◆ thread_yield()

◆ thread_yield_higher()

◆ thread_zombify()