Hands-On RTOS with Microcontrollers

Thread control/information

The basic threading API is very similar between CMSIS-RTOS and FreeRTOS, with the exception of CMSIS-RTOS's osThreadGetStackSize, which has no equivalent in FreeRTOS. Other minor differences include the addition of osThreadEnumerate, which uses several FreeRTOS functions while it lists the tasks in the system, as well as different names for states (CMSIS-RTOS lacks a suspend state). In CMSIS-RTOS, both static and dynamic thread/task stack allocation is supported through the same function, osThreadNew.

If osThreadTerminate is called while using the FreeRTOS Heap1 implementation (discussed in the next chapter), an infinite loop with no delay will be entered.  

Be aware that CMSIS-RTOS v2  osThreadAttr_t.osThreadPriority ...