adapted assembler commands in atomic defines

53832595 · Michael Schmid · 29d124d0 · 53832595 · 53832595 · 53832595
Commit 53832595 authored Nov 18, 2016 by Michael Schmid
18 changed files
--- a/CMakeCommon/SetCompilerFlags.cmake
+++ b/CMakeCommon/SetCompilerFlags.cmake
@@ -28,7 +28,7 @@ function(SetGNUCompilerFlags compiler_libs)
  if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
 	if(DEFINED CMAKE_SYSTEM_PROCESSOR)
 		set(compiler_libs PARENT_SCOPE)
-		set(common_flags "-fno-common -Os")
+		set(common_flags "-fno-common -Os -std=c99")
 		set(warning_flags "-W -Wall -Wextra -Wdiv-by-zero -Warray-bounds -Wcast-align -Wignored-qualifiers -Wformat -Wformat-security")
 		set(target_flags "-DAPPKIT_TC277TFT -fshort-double -mcpu=tc27xx -mversion-info")
 		

--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -104,11 +104,9 @@ else()
 endif()
 message("   (set with command line option -DUSE_AUTOMATIC_INITIALIZATION=ON/OFF)")

-set(CMAKE_CXX_STANDARD_LIBRARIES ${FREE_RTOS_LIB_PATH}/iRom/libFreeRTOS_Lib.a)
-set(CMAKE_C_STANDARD_LIBRARIES ${FREE_RTOS_LIB_PATH}/iRom/libFreeRTOS_Lib.a)
-set(CMAKE_INSTALL_RPATH FREE_RTOS_LIB_PATH)

-set(__TriCore__ 1)
+include_directories(${FREE_RTOS_LIB_PATH}/include)
+

 include(CMakeCommon/SetCompilerFlags.cmake)
 SetGNUCompilerFlags(compiler_libs compiler_flags)
@@ -142,16 +140,22 @@ set(EXPECTED_EMBB_TEST_EXECUTABLES "embb_algorithms_cpp_test"
                "embb_dataflow_cpp_test"
                "embb_mtapi_c_test"
                "embb_mtapi_cpp_test"
-                "embb_mtapi_network_c_test"
                "embb_tasks_cpp_test"
                )
-
-# if opencl is there, we also expect the mtapi opencl test to be generated
-if(BUILD_OPENCL_PLUGIN STREQUAL ON)
-  list(APPEND EXPECTED_EMBB_TEST_EXECUTABLES "embb_mtapi_opencl_c_test")
+				
+if(NOT __TriCore__)
+  list(APPEND EXPECTED_EMBB_TEST_EXECUTABLES "embb_mtapi_network_c_test")
+  # if opencl is there, we also expect the mtapi opencl test to be generated
+	if(BUILD_OPENCL_PLUGIN STREQUAL ON)
+	  list(APPEND EXPECTED_EMBB_TEST_EXECUTABLES "embb_mtapi_opencl_c_test")
+	endif()
+else()
+  message("-- MTAPI plugins will not be build on target 'TriCore'.")
 endif()


+
+
 ## Copy test execution script to local binaries folder

 if (DEFINED CYGWIN)
@@ -182,10 +186,12 @@ CheckPartestInstall(${BUILD_TESTS} partest_includepath partest_libpath)
 add_subdirectory(base_c)
 add_subdirectory(base_cpp)
 add_subdirectory(mtapi_c)
+if(NOT __TriCore__)
 add_subdirectory(mtapi_plugins_c/mtapi_network_c)
 if(BUILD_OPENCL_PLUGIN STREQUAL ON)
  add_subdirectory(mtapi_plugins_c/mtapi_opencl_c)
 endif()
+endif()
 add_subdirectory(tasks_cpp)
 add_subdirectory(mtapi_cpp)
 add_subdirectory(containers_cpp)

--- a/TC_Toolchain.cmake
+++ b/TC_Toolchain.cmake
@@ -3,7 +3,11 @@ SET(CMAKE_SYSTEM_NAME Generic)
 #this one not so much
 SET(CMAKE_SYSTEM_VERSION 1)
 SET(CMAKE_SYSTEM_PROCESSOR __TriCore__)
-SET(__TriCore__ 1)
+
+#Add __TriCore__ to compiler flags
+add_definitions(-D__TriCore__)
+#Add __TriCore__ to cmake flags
+set(__TriCore__ 1)

 # specify the cross compiler
 SET(CMAKE_C_COMPILER   C:/HighTec/toolchains/tricore/v4.6.6.0-infineon-1.1/bin/tricore-gcc.exe)

--- a/base_c/CMakeLists.txt
+++ b/base_c/CMakeLists.txt
@@ -72,6 +72,15 @@ if(MSVC)
  )
 endif()

+
+
+set(CMAKE_CXX_STANDARD_LIBRARIES ${FREE_RTOS_LIB_PATH}/iRom/libFreeRTOS_Lib.a)
+set(CMAKE_C_STANDARD_LIBRARIES ${FREE_RTOS_LIB_PATH}/iRom/libFreeRTOS_Lib.a)
+set(CMAKE_INSTALL_RPATH ${FREE_RTOS_LIB_PATH})
+file(GLOB_RECURSE FREE_RTOS_HEADERS "${FREE_RTOS_LIB_PATH}/*.h")
+
+
+
 ## CONFIGURATION
 #
 # Check headers and create configure file with preprocessor defines

--- a/base_c/include/embb/base/c/internal/atomic/and_assign.h
+++ b/base_c/include/embb/base/c/internal/atomic/and_assign.h
@@ -126,6 +126,26 @@ EMBB_DEFINE_AND_ASSIGN(1, "b")
 EMBB_DEFINE_AND_ASSIGN(2, "h")
 EMBB_DEFINE_AND_ASSIGN(4, "")

+#elif defined(EMBB_PLATFORM_ARCH_TC)
+#if defined(EMBB_PLATFORM_COMPILER_GNUC)
+// scm34681: add atomic methods (all headers)
+#define EMBB_DEFINE_AND_ASSIGN(EMBB_PARAMETER_SIZE_BYTE, EMBB_ATOMIC_X86_SIZE_SUFFIX)\
+  EMBB_PLATFORM_INLINE void EMBB_CAT2(embb_internal__atomic_and_assign_, \
+  EMBB_PARAMETER_SIZE_BYTE)(EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) volatile* pointer_to_value, EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) value) { \
+  __asm__ __volatile__("and" EMBB_ATOMIC_X86_SIZE_SUFFIX " %[value], %[value_p]\n\t" \
+  "dsync" \
+  : [value]"+r" (value) \
+  : [value_p]"r" (*pointer_to_value)\
+  : "memory"); \
+  }
+#else
+#error "No atomic fetch and store implementation found"
+#endif
+
+EMBB_DEFINE_AND_ASSIGN(1, "")
+EMBB_DEFINE_AND_ASSIGN(2, "")
+EMBB_DEFINE_AND_ASSIGN(4, "")
+
 #else
 #error "Unknown architecture"
 #endif

--- a/base_c/include/embb/base/c/internal/atomic/compare_and_swap.h
+++ b/base_c/include/embb/base/c/internal/atomic/compare_and_swap.h
@@ -125,6 +125,30 @@ EMBB_DEFINE_COMPARE_AND_SWAP(1, "b")
 EMBB_DEFINE_COMPARE_AND_SWAP(2, "h")
 EMBB_DEFINE_COMPARE_AND_SWAP(4, "")

+
+#elif defined(EMBB_PLATFORM_ARCH_TC)
+#if defined(EMBB_PLATFORM_COMPILER_GNUC)
+// scm34681: use aurix instruction set
+#define EMBB_DEFINE_COMPARE_AND_SWAP(EMBB_PARAMETER_SIZE_BYTE, EMBB_ATOMIC_X86_SIZE_SUFFIX) \
+  EMBB_PLATFORM_INLINE int EMBB_CAT2(embb_internal__atomic_compare_and_swap_, \
+  EMBB_PARAMETER_SIZE_BYTE)(EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) volatile* pointer_to_value, EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) volatile* expected, \
+  EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) desired) { \
+  unsigned int result; \
+  __asm__ __volatile__ ("eq" EMBB_ATOMIC_X86_SIZE_SUFFIX " %[result], %[expected], %[desired]\n\t"  \
+  "mov %[desired], %[pointer_to_value]" \
+  : [result]"=r" (result)\
+  : [expected]"r" (*expected), [desired]"r" (desired), [pointer_to_value]"r"(*pointer_to_value)\
+  : "memory", "cc" ); \
+  return (result & 0xFF); \
+  }
+#else
+#error "No atomic fetch and store implementation found"
+#endif
+
+EMBB_DEFINE_COMPARE_AND_SWAP(1, "ANY.B")
+EMBB_DEFINE_COMPARE_AND_SWAP(2, "ANY.H")
+EMBB_DEFINE_COMPARE_AND_SWAP(4, "")
+
 #else
 #error "Unknown architecture"
 #endif

--- a/base_c/include/embb/base/c/internal/atomic/fetch_and_add.h
+++ b/base_c/include/embb/base/c/internal/atomic/fetch_and_add.h
@@ -118,6 +118,26 @@ EMBB_DEFINE_FETCH_AND_ADD(1, "b")
 EMBB_DEFINE_FETCH_AND_ADD(2, "h")
 EMBB_DEFINE_FETCH_AND_ADD(4, "")

+#elif defined(EMBB_PLATFORM_ARCH_TC)
+#if defined(EMBB_PLATFORM_COMPILER_GNUC)
+#define EMBB_DEFINE_FETCH_AND_ADD(EMBB_PARAMETER_SIZE_BYTE, EMBB_ATOMIC_X86_SIZE_SUFFIX) \
+  EMBB_PLATFORM_INLINE EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) EMBB_CAT2(embb_internal__atomic_fetch_and_add_, EMBB_PARAMETER_SIZE_BYTE) \
+  (EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) volatile* pointer_to_value, EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) new_value) { \
+  __asm__ __volatile__ ("add" EMBB_ATOMIC_X86_SIZE_SUFFIX " %[new_value], %[value_p]\n\t" \
+  "dsync" \
+  : [new_value]"+r" (new_value) \
+  : [value_p]"r" (*pointer_to_value) \
+  : "memory", "cc" ); \
+  return new_value; \
+  }
+#else
+#error "No atomic fetch and store implementation found"
+#endif
+
+EMBB_DEFINE_FETCH_AND_ADD(1, ".b")
+EMBB_DEFINE_FETCH_AND_ADD(2, ".h")
+EMBB_DEFINE_FETCH_AND_ADD(4, "")
+
 #else
 #error "Unknown architecture"
 #endif

--- a/base_c/include/embb/base/c/internal/atomic/load.h
+++ b/base_c/include/embb/base/c/internal/atomic/load.h
@@ -109,6 +109,29 @@ EMBB_DEFINE_LOAD(1, "b")
 EMBB_DEFINE_LOAD(2, "h")
 EMBB_DEFINE_LOAD(4, "")

+
+#elif defined(EMBB_PLATFORM_ARCH_TC)
+#if defined(EMBB_PLATFORM_COMPILER_GNUC)
+#define EMBB_DEFINE_LOAD(EMBB_PARAMETER_SIZE_BYTE, EMBB_ATOMIC_X86_SIZE_SUFFIX) \
+  EMBB_PLATFORM_INLINE EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) \
+  EMBB_CAT2(embb_internal__atomic_load_, EMBB_PARAMETER_SIZE_BYTE)(EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) volatile* pointer_to_value) { \
+  /* no fence required for loads */ \
+  EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) result; \
+  __asm__ __volatile__("mov" EMBB_ATOMIC_X86_SIZE_SUFFIX " %1, %0" \
+  : "=r" (result) \
+  : "r" (*pointer_to_value) \
+  : "memory"); \
+  return result; \
+  }
+
+#else
+#error "No atomic fetch and store implementation found"
+#endif
+
+EMBB_DEFINE_LOAD(1, "")
+EMBB_DEFINE_LOAD(2, "")
+EMBB_DEFINE_LOAD(4, "")
+
 #else
 #error "Unknown architecture"
 #endif

--- a/base_c/include/embb/base/c/internal/atomic/memory_barrier.h
+++ b/base_c/include/embb/base/c/internal/atomic/memory_barrier.h
@@ -60,6 +60,16 @@ EMBB_PLATFORM_INLINE void embb_atomic_memory_barrier() {
  __asm__ __volatile__ ("dmb" : : : "memory");
 }

+#elif defined(EMBB_PLATFORM_ARCH_TC)
+#if defined(EMBB_PLATFORM_COMPILER_GNUC)
+// Read/write barrier
+EMBB_PLATFORM_INLINE void embb_atomic_memory_barrier() {
+  __asm__ __volatile__ ("isync" : : : "memory");
+}
+#else
+#error "No atomic fetch and store implementation found"
+#endif
+
 #endif

 #endif //DOXYGEN

--- a/base_c/include/embb/base/c/internal/atomic/or_assign.h
+++ b/base_c/include/embb/base/c/internal/atomic/or_assign.h
@@ -111,6 +111,26 @@ EMBB_DEFINE_OR_ASSIGN(1, "b")
 EMBB_DEFINE_OR_ASSIGN(2, "h")
 EMBB_DEFINE_OR_ASSIGN(4, "")

+#elif defined(EMBB_PLATFORM_ARCH_TC)
+#if defined(EMBB_PLATFORM_COMPILER_GNUC)
+#define EMBB_DEFINE_OR_ASSIGN(EMBB_PARAMETER_SIZE_BYTE, EMBB_ATOMIC_X86_SIZE_SUFFIX) \
+  EMBB_PLATFORM_INLINE void EMBB_CAT2(embb_internal__atomic_or_assign_, EMBB_PARAMETER_SIZE_BYTE)(\
+  EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) volatile* pointer_to_value, EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) value) { \
+  __asm__ __volatile__("or" EMBB_ATOMIC_X86_SIZE_SUFFIX " %[value], %[value_p]\n\t" \
+  "dsync" \
+  : [value]"+r" (value) \
+  : [value_p]"r" (*pointer_to_value) \
+  : "memory"); \
+  }
+
+#else
+#error "No atomic fetch and store implementation found"
+#endif
+
+EMBB_DEFINE_OR_ASSIGN(1, "")
+EMBB_DEFINE_OR_ASSIGN(2, "")
+EMBB_DEFINE_OR_ASSIGN(4, "")
+
 #else
 #error "Unknown architecture"
 #endif

--- a/base_c/include/embb/base/c/internal/atomic/store.h
+++ b/base_c/include/embb/base/c/internal/atomic/store.h
@@ -106,6 +106,26 @@ EMBB_DEFINE_STORE(1, "b")
 EMBB_DEFINE_STORE(2, "h")
 EMBB_DEFINE_STORE(4, "")

+#elif defined(EMBB_PLATFORM_ARCH_TC)
+#if defined(EMBB_PLATFORM_COMPILER_GNUC)
+#define EMBB_DEFINE_STORE(EMBB_PARAMETER_SIZE_BYTE, EMBB_ATOMIC_X86_SIZE_SUFFIX)\
+  EMBB_PLATFORM_INLINE void EMBB_CAT2(embb_internal__atomic_store_, EMBB_PARAMETER_SIZE_BYTE)(EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) volatile* pointer_to_value, \
+  EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) new_value) {\
+	__asm__ __volatile__("st" EMBB_ATOMIC_X86_SIZE_SUFFIX " %[result], %[value]\n\t" \
+  "dsync" \
+  :  [result]"=m" (pointer_to_value)\
+  :  [value]"r" (new_value)\
+  : "memory"); \
+  }		// scm34681: check correct implementation
+
+#else
+#error "No atomic fetch and store implementation found"
+#endif
+
+EMBB_DEFINE_STORE(1, ".b")
+EMBB_DEFINE_STORE(2, ".h")
+EMBB_DEFINE_STORE(4, ".w")
+
 #else
 #error "Unknown architecture"
 #endif

--- a/base_c/include/embb/base/c/internal/atomic/swap.h
+++ b/base_c/include/embb/base/c/internal/atomic/swap.h
@@ -114,6 +114,28 @@ EMBB_DEFINE_SWAP(1, "b")
 EMBB_DEFINE_SWAP(2, "h")
 EMBB_DEFINE_SWAP(4, "")

+#elif defined(EMBB_PLATFORM_ARCH_TC)
+#if defined(EMBB_PLATFORM_COMPILER_GNUC)
+#define EMBB_DEFINE_SWAP(EMBB_PARAMETER_SIZE_BYTE, EMBB_ATOMIC_X86_SIZE_SUFFIX) \
+  EMBB_PLATFORM_INLINE EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) EMBB_CAT2(embb_internal__atomic_swap_, EMBB_PARAMETER_SIZE_BYTE)(\
+  EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) volatile* pointer_to_value, EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) new_value)\
+  { \
+  /*the lock prefix is implicit for xchg*/  \
+  __asm__ __volatile__("swap" EMBB_ATOMIC_X86_SIZE_SUFFIX " %1, %0" \
+  : "+m" (pointer_to_value), "+r" (new_value) \
+  :  \
+  : "memory"); \
+  return new_value; \
+  }
+
+#else
+#error "No atomic fetch and store implementation found"
+#endif
+
+EMBB_DEFINE_SWAP(1, ".w")
+EMBB_DEFINE_SWAP(2, ".w")
+EMBB_DEFINE_SWAP(4, ".w")
+
 #else
 #error "Unknown architecture"
 #endif

--- a/base_c/include/embb/base/c/internal/atomic/xor_assign.h
+++ b/base_c/include/embb/base/c/internal/atomic/xor_assign.h
@@ -112,6 +112,28 @@ EMBB_DEFINE_XOR_ASSIGN(1, "b")
 EMBB_DEFINE_XOR_ASSIGN(2, "h")
 EMBB_DEFINE_XOR_ASSIGN(4, "")

+
+#elif defined(EMBB_PLATFORM_ARCH_TC)
+#if defined(EMBB_PLATFORM_COMPILER_GNUC)
+#define EMBB_DEFINE_XOR_ASSIGN(EMBB_PARAMETER_SIZE_BYTE, EMBB_ATOMIC_X86_SIZE_SUFFIX) \
+  EMBB_PLATFORM_INLINE void EMBB_CAT2(embb_internal__atomic_xor_assign_, EMBB_PARAMETER_SIZE_BYTE)(\
+  EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) volatile* pointer_to_value, \
+  EMBB_CAT2(EMBB_BASE_BASIC_TYPE_SIZE_, EMBB_PARAMETER_SIZE_BYTE) value) { \
+  __asm__ __volatile__("lock xor" EMBB_ATOMIC_X86_SIZE_SUFFIX " %[value], %[value_p]\n\t" \
+  "dsync" \
+  : [value]"+r" (value) \
+  : [value_p]"r" (*pointer_to_value) \
+  : "memory"); \
+  }
+
+#else
+#error "No atomic fetch and store implementation found"
+#endif
+
+EMBB_DEFINE_XOR_ASSIGN(1, "")
+EMBB_DEFINE_XOR_ASSIGN(2, "")
+EMBB_DEFINE_XOR_ASSIGN(4, "")
+
 #else
 #error "Unknown architecture"
 #endif

--- a/base_c/include/embb/base/c/internal/platform.h
+++ b/base_c/include/embb/base/c/internal/platform.h
@@ -99,6 +99,7 @@ typedef pthread_cond_t embb_condition_t;
 /* EMBB_PLATFORM_THREADING_POSIXTHREADS */
 #elif defined EMBB_PLATFORM_THREADING_RTOSTASKS

+#include <FreeRTOS/FreeRTOS.h>
 #include <FreeRTOS/task.h>
 #include <FreeRTOS/semphr.h>

@@ -112,7 +113,7 @@ typedef struct embb_thread_t {
 	struct embb_internal_thread_arg_t* embb_internal_arg;
 } embb_thread_t;

-typedef TaskStatus_t embb_thread_id_t;
+typedef TaskHandle_t embb_thread_id_t;
 typedef SemaphoreHandle_t embb_mutex_t;
 typedef SemaphoreHandle_t embb_condition_t; // scm34681: implement FreeRTOS condition variable 


--- a/base_c/src/thread.c
+++ b/base_c/src/thread.c
@@ -360,7 +360,7 @@ embb_thread_start_t func, void *arg) {
 	thread->embb_internal_arg->func = func;
 	thread->embb_internal_arg->arg = arg;	  
 	
-	status = xTaskCreate( embb_internal_thread_start, 			// entry function
+	status = xTaskCreate( (TaskFunction_t) embb_internal_thread_start, 			// entry function
 						0, 										// task name (not needed)
 						128, 									// stack size
 						thread->embb_internal_arg, 				// parameters

--- a/base_cpp/CMakeLists.txt
+++ b/base_cpp/CMakeLists.txt
@@ -27,6 +27,8 @@ include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include
                    ${CMAKE_CURRENT_BINARY_DIR}/../base_c/include
                    )

+				
+					
 ## BUILD TARGETS
 #
 add_library (embb_base_cpp ${EMBB_BASE_CPP_SOURCES} ${EMBB_BASE_CPP_HEADERS})

--- a/base_cpp/include/embb/base/internal/platform.h
+++ b/base_cpp/include/embb/base/internal/platform.h
@@ -64,7 +64,23 @@ typedef embb_condition_t ConditionVariableType;
 } // namespace base
 } // namespace embb

-#else // EMBB_PLATFORM_THREADING_POSIXTHREADS
+// EMBB_PLATFORM_THREADING_POSIXTHREADS
+#elif defined EMBB_PLATFORM_THREADING_RTOSTASKS
+
+namespace embb {
+namespace base {
+namespace internal {
+
+typedef embb_thread_t ThreadType;
+typedef embb_thread_id_t IDType;
+typedef embb_mutex_t MutexType;
+typedef embb_condition_t ConditionVariableType;
+
+} // namespace internal
+} // namespace base
+} // namespace embb
+
+#else //EMBB_PLATFORM_THREADING_RTOSTASKS

 #error "No threading platform defined!"


--- a/base_cpp/src/thread.cc
+++ b/base_cpp/src/thread.cc
@@ -61,6 +61,8 @@ void Thread::Join() {
 Thread::ID Thread::GetID() {
 #if defined EMBB_PLATFORM_THREADING_WINTHREADS
  return Thread::ID(GetCurrentThreadId());
+#elif defined EMBB_PLATFORM_THREADING_RTOSTASKS
+  return Thread::ID(rep_.embb_internal_handle); // scm34681: check if this works with rtos tasks
 #elif defined EMBB_PLATFORM_THREADING_POSIXTHREADS
  return Thread::ID(rep_.embb_internal_handle);
 #endif
@@ -69,6 +71,8 @@ Thread::ID Thread::GetID() {
 bool operator==(Thread::ID lhs, Thread::ID rhs) {
 #if defined EMBB_PLATFORM_THREADING_WINTHREADS
  return lhs.id_ == rhs.id_;
+#elif defined EMBB_PLATFORM_THREADING_RTOSTASKS
+  return lhs.id_ == rhs.id_; // scm34681 check if this works with rtos tasks
 #else
  return pthread_equal(lhs.id_, rhs.id_) != 0;
 #endif
@@ -77,6 +81,8 @@ bool operator==(Thread::ID lhs, Thread::ID rhs) {
 bool operator!=(Thread::ID lhs, Thread::ID rhs) {
 #if defined EMBB_PLATFORM_THREADING_WINTHREADS
  return lhs.id_ != rhs.id_;
+#elif defined EMBB_PLATFORM_THREADING_RTOSTASKS
+  return lhs.id_ != rhs.id_; // scm34681 check if this works with rtos tasks
 #else
  return pthread_equal(lhs.id_, rhs.id_) == 0;
 #endif