Merge branch 'feature/add_pthread' into 'master'

Add pthread component

See merge request sdk/ESP8266_RTOS_SDK!434

components/esp8266/source/startup.c

@@ -39,6 +39,7 @@ extern int base_gpio_init(void);
 extern int watchdog_init(void);
 extern int wifi_timer_init(void);
 extern int wifi_nvs_init(void);
+extern esp_err_t esp_pthread_init(void);
 
 static void user_init_entry(void *param)
 {
@@ -67,6 +68,10 @@ static void user_init_entry(void *param)
     esp_task_wdt_init();
 #endif
 
+#ifdef CONFIG_ENABLE_PTHREAD
+    assert(esp_pthread_init() == 0);
+#endif
+
     app_main();
 
     wifi_task_delete(NULL);

components/freertos/port/esp8266/include/freertos/FreeRTOSConfig.h

@@ -152,7 +152,11 @@ NVIC value of 255. */
 #define configUSE_NEWLIB_REENTRANT  1
 #endif
 
+#ifdef CONFIG_ENABLE_PTHREAD
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 2
+#else
 #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 1
+#endif
 #define configTHREAD_LOCAL_STORAGE_DELETE_CALLBACKS 1
 
 /* add this to dump task stack information */

components/newlib/Makefile.projbuild

@@ -1 +1,4 @@
-CFLAGS += -D_CLOCKS_PER_SEC_=CONFIG_FREERTOS_HZ
+CFLAGS += -D_CLOCKS_PER_SEC_=CONFIG_FREERTOS_HZ -D_POSIX_THREADS=1 -D_UNIX98_THREAD_MUTEX_ATTRIBUTES=1
+ifdef CONFIG_ENABLE_PTHREAD
+CFLAGS += -D_POSIX_THREADS=1 -D_UNIX98_THREAD_MUTEX_AT
+endif

components/newlib/newlib/include/sys/time.h

@@ -20,7 +20,7 @@ struct timeval {
 };
 
 /* BSD time macros used by RTEMS code */
-#if defined (__rtems__) || defined (__CYGWIN__)
+#if defined (__rtems__) || defined (__CYGWIN__) || defined(__XTENSA__)
 
 /* Convenience macros for operations on timevals.
    NOTE: `timercmp' does not work for >= or <=.  */

components/newlib/newlib/port/syscall.c

@@ -32,7 +32,7 @@ _ssize_t _read_r(struct _reent *r, int fd, void *buf, size_t len)
     return 0;
 }
 
-_ssize_t _write_r(struct _reent *r, int fd, void *buf, size_t len)
+_ssize_t _write_r(struct _reent *r, int fd, const void *buf, size_t len)
 {
     int i;
     const char *cbuf = buf;

components/pthread/Kconfig

@@ -0,0 +1,22 @@
+menu "PThreads"
+
+config ENABLE_PTHREAD
+    bool "Enable pthread"
+    default n
+    help
+        Enable this option and then pthread is to be used.
+
+config ESP32_PTHREAD_TASK_PRIO_DEFAULT
+    int "Default task priority"
+    range 0 255
+    default 5
+    help
+        Priority used to create new tasks with default pthread parameters.
+
+config ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT
+    int "Default task stack size"
+    default 3072
+    help
+        Stack size used to create new tasks with default pthread parameters.
+
+endmenu

components/pthread/component.mk

@@ -0,0 +1,15 @@
+#
+# Component Makefile
+#
+
+ifdef CONFIG_ENABLE_PTHREAD
+COMPONENT_SRCDIRS := src
+endif
+
+COMPONENT_ADD_INCLUDEDIRS := include
+
+COMPONENT_ADD_LDFLAGS := -lpthread
+
+ifdef CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK
+COMPONENT_ADD_LDFLAGS += -Wl,--wrap=vPortCleanUpTCB
+endif

components/pthread/include/esp_pthread.h

@@ -0,0 +1,67 @@
+// Copyright 2018 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <pthread.h>
+
+/** pthread configuration structure that influences pthread creation */
+typedef struct {
+    size_t stack_size;    ///< the stack size of the pthread
+    size_t prio;          ///< the thread's priority
+    bool inherit_cfg;     ///< inherit this configuration further
+} esp_pthread_cfg_t;
+
+/**
+ * @brief Configure parameters for creating pthread
+ *
+ * This API allows you to configure how the subsequent
+ * pthread_create() call will behave. This call can be used to setup
+ * configuration parameters like stack size, priority, configuration
+ * inheritance etc.
+ *
+ * If the 'inherit' flag in the configuration structure is enabled,
+ * then the same configuration is also inherited in the thread
+ * subtree.
+ *
+ * @param cfg The pthread config parameters
+ *
+ * @return
+ *      - ESP_OK if configuration was successfully set
+ *      - ESP_ERR_NO_MEM if out of memory
+ */
+esp_err_t esp_pthread_set_cfg(const esp_pthread_cfg_t *cfg);
+
+/**
+ * @brief Get current pthread creation configuration
+ *
+ * This will retrieve the current configuration that will be used for
+ * creating threads.
+ *
+ * @param p Pointer to the pthread config structure that will be
+ * updated with the currently configured parameters
+ *
+ * @return
+ *      - ESP_OK if the configuration was available
+ *      - ESP_ERR_NOT_FOUND if a configuration wasn't previously set
+ */
+esp_err_t esp_pthread_get_cfg(esp_pthread_cfg_t *p);
+
+#ifdef __cplusplus
+}
+#endif

components/pthread/src/pthread.c

@@ -0,0 +1,612 @@
+// Copyright 2017 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+//
+// This module implements pthread API on top of FreeRTOS. API is implemented to the level allowing
+// libstdcxx threading framework to operate correctly. So not all original pthread routines are supported.
+// Moreover some implemened functions do not provide full functionality, e.g. pthread_create does not support
+// thread's attributes customization (prio, stack size and so on). So if you are not satisfied with default
+// behavior use native FreeRTOS API.
+//
+#include <errno.h>
+#include <pthread.h>
+#include <string.h>
+#include <stdlib.h>
+#include "esp_err.h"
+#include "esp_attr.h"
+#include "sys/queue.h"
+#include "sys/types.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+
+#include "pthread_internal.h"
+#include "esp_pthread.h"
+
+#ifdef CONFIG_ENABLE_PTHREAD
+
+#if portNUM_PROCESSORS == 1
+#undef portENTER_CRITICAL
+#undef portEXIT_CRITICAL
+
+#define portENTER_CRITICAL(l)   vPortEnterCritical()
+#define portEXIT_CRITICAL(l)    vPortExitCritical()
+#endif
+
+#define LOG_LOCAL_LEVEL CONFIG_LOG_DEFAULT_LEVEL
+#include "esp_log.h"
+const static char *TAG = "pthread";
+
+/** task state */
+enum esp_pthread_task_state {
+    PTHREAD_TASK_STATE_RUN,
+    PTHREAD_TASK_STATE_EXIT
+};
+
+/** pthread thread FreeRTOS wrapper */
+typedef struct esp_pthread_entry {
+    SLIST_ENTRY(esp_pthread_entry)  list_node;  ///< Tasks list node struct.
+    TaskHandle_t                handle;         ///< FreeRTOS task handle
+    TaskHandle_t                join_task;      ///< Handle of the task waiting to join
+    enum esp_pthread_task_state state;          ///< pthread task state
+    bool                        detached;       ///< True if pthread is detached
+} esp_pthread_t;
+
+/** pthread wrapper task arg */
+typedef struct {
+    void *(*func)(void *);  ///< user task entry
+    void *arg;              ///< user task argument
+    esp_pthread_cfg_t cfg;  ///< pthread configuration
+} esp_pthread_task_arg_t;
+
+/** pthread mutex FreeRTOS wrapper */
+typedef struct {
+    SemaphoreHandle_t   sem;        ///< Handle of the task waiting to join
+    int                 type;       ///< Mutex type. Currently supported PTHREAD_MUTEX_NORMAL and PTHREAD_MUTEX_RECURSIVE
+} esp_pthread_mutex_t;
+
+
+static SemaphoreHandle_t s_threads_mux  = NULL;
+#if portNUM_PROCESSORS > 1
+static portMUX_TYPE s_mutex_init_lock   = portMUX_INITIALIZER_UNLOCKED;
+#endif
+static SLIST_HEAD(esp_thread_list_head, esp_pthread_entry) s_threads_list
+                                        = SLIST_HEAD_INITIALIZER(s_threads_list);
+static pthread_key_t s_pthread_cfg_key;
+
+
+static int IRAM_ATTR pthread_mutex_lock_internal(esp_pthread_mutex_t *mux, TickType_t tmo);
+
+static inline void uxPortCompareSet(volatile uint32_t *addr, uint32_t compare, uint32_t *set)
+{
+    portENTER_CRITICAL(&s_mutex_init_lock);
+    *addr = compare;
+    *set = 0;
+    portEXIT_CRITICAL(&s_mutex_init_lock);
+}
+
+static void esp_pthread_cfg_key_destructor(void *value)
+{
+    free(value);
+}
+
+esp_err_t esp_pthread_init(void)
+{
+    if (pthread_key_create(&s_pthread_cfg_key, esp_pthread_cfg_key_destructor) != 0) {
+        return ESP_ERR_NO_MEM;
+    }
+    s_threads_mux = xSemaphoreCreateMutex();
+    if (s_threads_mux == NULL) {
+	pthread_key_delete(s_pthread_cfg_key);
+        return ESP_ERR_NO_MEM;
+    }
+    return ESP_OK;
+}
+
+static void *pthread_list_find_item(void *(*item_check)(esp_pthread_t *, void *arg), void *check_arg)
+{
+    esp_pthread_t *it;
+    SLIST_FOREACH(it, &s_threads_list, list_node) {
+        void *val = item_check(it, check_arg);
+        if (val) {
+            return val;
+        }
+    }
+    return NULL;
+}
+
+static void *pthread_get_handle_by_desc(esp_pthread_t *item, void *desc)
+{
+    if (item == desc) {
+        return item->handle;
+    }
+    return NULL;
+}
+
+static void *pthread_get_desc_by_handle(esp_pthread_t *item, void *hnd)
+{
+    if (hnd == item->handle) {
+        return item;
+    }
+    return NULL;
+}
+
+static inline TaskHandle_t pthread_find_handle(pthread_t thread)
+{
+    return pthread_list_find_item(pthread_get_handle_by_desc, (void *)thread);
+}
+
+static esp_pthread_t *pthread_find(TaskHandle_t task_handle)
+{
+    return pthread_list_find_item(pthread_get_desc_by_handle, task_handle);
+}
+
+static void pthread_delete(esp_pthread_t *pthread)
+{
+    SLIST_REMOVE(&s_threads_list, pthread, esp_pthread_entry, list_node);
+    free(pthread);
+}
+
+
+/* Call this function to configure pthread stacks in Pthreads */
+esp_err_t esp_pthread_set_cfg(const esp_pthread_cfg_t *cfg)
+{
+    /* If a value is already set, update that value */
+    esp_pthread_cfg_t *p = pthread_getspecific(s_pthread_cfg_key);
+    if (!p) {
+	p = malloc(sizeof(esp_pthread_cfg_t));
+	if (!p) {
+	    return ESP_ERR_NO_MEM;
+	}
+    }
+    *p = *cfg;
+    pthread_setspecific(s_pthread_cfg_key, p);
+    return 0;
+}
+
+esp_err_t esp_pthread_get_cfg(esp_pthread_cfg_t *p)
+{
+    esp_pthread_cfg_t *cfg = pthread_getspecific(s_pthread_cfg_key);
+    if (cfg) {
+	*p = *cfg;
+	return ESP_OK;
+    }
+    memset(p, 0, sizeof(*p));
+    return ESP_ERR_NOT_FOUND;
+}
+
+static void pthread_task_func(void *arg)
+{
+    esp_pthread_task_arg_t *task_arg = (esp_pthread_task_arg_t *)arg;
+
+    ESP_LOGV(TAG, "%s ENTER %p", __FUNCTION__, task_arg->func);
+    // wait for start
+    xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
+
+    if (task_arg->cfg.inherit_cfg) {
+	/* If inherit option is set, then do a set_cfg() ourselves for future forks */
+	esp_pthread_set_cfg(&task_arg->cfg);
+    }
+    ESP_LOGV(TAG, "%s START %p", __FUNCTION__, task_arg->func);
+    task_arg->func(task_arg->arg);
+    ESP_LOGV(TAG, "%s END %p", __FUNCTION__, task_arg->func);
+    free(task_arg);
+
+    /* preemptively clean up thread local storage, rather than
+       waiting for the idle task to clean up the thread */
+    pthread_internal_local_storage_destructor_callback();
+
+    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
+        assert(false && "Failed to lock threads list!");
+    }
+    esp_pthread_t *pthread = pthread_find(xTaskGetCurrentTaskHandle());
+    if (!pthread) {
+        assert(false && "Failed to find pthread for current task!");
+    }
+    if (pthread->detached) {
+        // auto-free for detached threads
+        pthread_delete(pthread);
+    } else {
+        // Remove from list, it indicates that task has exited
+        if (pthread->join_task) {
+            // notify join
+            xTaskNotify(pthread->join_task, 0, eNoAction);
+        } else {
+            pthread->state = PTHREAD_TASK_STATE_EXIT;
+        }
+    }
+    xSemaphoreGive(s_threads_mux);
+
+    ESP_LOGD(TAG, "Task stk_wm = %lu", uxTaskGetStackHighWaterMark(NULL));
+    vTaskDelete(NULL);
+
+    ESP_LOGV(TAG, "%s EXIT", __FUNCTION__);
+}
+
+int pthread_create(pthread_t *thread, const pthread_attr_t *attr,
+                   void *(*start_routine) (void *), void *arg)
+{
+    TaskHandle_t xHandle = NULL;
+
+    ESP_LOGV(TAG, "%s", __FUNCTION__);
+    if (attr) {
+        ESP_LOGE(TAG, "%s: attrs not supported!", __FUNCTION__);
+        return ENOSYS;
+    }
+    esp_pthread_task_arg_t *task_arg = malloc(sizeof(esp_pthread_task_arg_t));
+    if (task_arg == NULL) {
+        ESP_LOGE(TAG, "Failed to allocate task args!");
+        return ENOMEM;
+    }
+    memset(task_arg, 0, sizeof(esp_pthread_task_arg_t));
+    esp_pthread_t *pthread = malloc(sizeof(esp_pthread_t));
+    if (pthread == NULL) {
+        ESP_LOGE(TAG, "Failed to allocate pthread data!");
+        free(task_arg);
+        return ENOMEM;
+    }
+    uint32_t stack_size = CONFIG_ESP32_PTHREAD_TASK_STACK_SIZE_DEFAULT;
+    BaseType_t prio = CONFIG_ESP32_PTHREAD_TASK_PRIO_DEFAULT;
+    esp_pthread_cfg_t *pthread_cfg = pthread_getspecific(s_pthread_cfg_key);
+    if (pthread_cfg) {
+	if (pthread_cfg->stack_size) {
+	    stack_size = pthread_cfg->stack_size;
+	}
+	if (pthread_cfg->prio && pthread_cfg->prio < configMAX_PRIORITIES) {
+	    prio = pthread_cfg->prio;
+	}
+	task_arg->cfg = *pthread_cfg;
+    }
+    memset(pthread, 0, sizeof(esp_pthread_t));
+    task_arg->func = start_routine;
+    task_arg->arg = arg;
+    BaseType_t res = xTaskCreate(&pthread_task_func, "pthread", stack_size,
+		      task_arg, prio, &xHandle);
+    if(res != pdPASS) {
+        ESP_LOGE(TAG, "Failed to create task!");
+        free(pthread);
+        free(task_arg);
+        if (res == errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY) {
+            return ENOMEM;
+        } else {
+            return EAGAIN;
+        }
+    }
+    pthread->handle = xHandle;
+
+    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
+        assert(false && "Failed to lock threads list!");
+    }
+    SLIST_INSERT_HEAD(&s_threads_list, pthread, list_node);
+    xSemaphoreGive(s_threads_mux);
+
+    // start task
+    xTaskNotify(xHandle, 0, eNoAction);
+
+    *thread = (pthread_t)pthread; // pointer value fit into pthread_t (uint32_t)
+
+    ESP_LOGV(TAG, "Created task %x", (uint32_t)xHandle);
+
+    return 0;
+}
+
+int pthread_join(pthread_t thread, void **retval)
+{
+    esp_pthread_t *pthread = (esp_pthread_t *)thread;
+    int ret = 0;
+    bool wait = false;
+
+    ESP_LOGV(TAG, "%s %p", __FUNCTION__, pthread);
+
+    // find task
+    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
+        assert(false && "Failed to lock threads list!");
+    }
+    TaskHandle_t handle = pthread_find_handle(thread);
+    if (!handle) {
+        // not found
+        ret = ESRCH;
+    } else if (pthread->join_task) {
+        // already have waiting task to join
+        ret = EINVAL;
+    } else if (handle == xTaskGetCurrentTaskHandle()) {
+        // join to self not allowed
+        ret = EDEADLK;
+    } else {
+        esp_pthread_t *cur_pthread = pthread_find(xTaskGetCurrentTaskHandle());
+        if (cur_pthread && cur_pthread->join_task == handle) {
+            // join to each other not allowed
+            ret = EDEADLK;
+        } else {
+            if (pthread->state == PTHREAD_TASK_STATE_RUN) {
+                pthread->join_task = xTaskGetCurrentTaskHandle();
+                wait = true;
+            } else {
+                pthread_delete(pthread);
+            }
+        }
+    }
+    xSemaphoreGive(s_threads_mux);
+
+    if (ret == 0 && wait) {
+        xTaskNotifyWait(0, 0, NULL, portMAX_DELAY);
+        if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
+            assert(false && "Failed to lock threads list!");
+        }
+        pthread_delete(pthread);
+        xSemaphoreGive(s_threads_mux);
+    }
+
+    if (retval) {
+        *retval = 0; // no exit code in FreeRTOS
+    }
+
+    ESP_LOGV(TAG, "%s %p EXIT %d", __FUNCTION__, pthread, ret);
+    return ret;
+}
+
+int pthread_detach(pthread_t thread)
+{
+    esp_pthread_t *pthread = (esp_pthread_t *)thread;
+    int ret = 0;
+
+    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
+        assert(false && "Failed to lock threads list!");
+    }
+    TaskHandle_t handle = pthread_find_handle(thread);
+    if (!handle) {
+        ret = ESRCH;
+    } else {
+        pthread->detached = true;
+    }
+    xSemaphoreGive(s_threads_mux);
+    ESP_LOGV(TAG, "%s %p EXIT %d", __FUNCTION__, pthread, ret);
+    return ret;
+}
+
+int pthread_cancel(pthread_t thread)
+{
+    ESP_LOGE(TAG, "%s: not supported!", __FUNCTION__);
+    return ENOSYS;
+}
+
+int sched_yield( void )
+{
+    vTaskDelay(0);
+    return 0;
+}
+
+pthread_t pthread_self(void)
+{
+    if (xSemaphoreTake(s_threads_mux, portMAX_DELAY) != pdTRUE) {
+        assert(false && "Failed to lock threads list!");
+    }
+    esp_pthread_t *pthread = pthread_find(xTaskGetCurrentTaskHandle());
+    if (!pthread) {
+        assert(false && "Failed to find current thread ID!");
+    }
+    xSemaphoreGive(s_threads_mux);
+    return (pthread_t)pthread;
+}
+
+int pthread_equal(pthread_t t1, pthread_t t2)
+{
+    return t1 == t2 ? 1 : 0;
+}
+
+/***************** ONCE ******************/
+int pthread_once(pthread_once_t *once_control, void (*init_routine)(void))
+{
+    if (once_control == NULL || init_routine == NULL || !once_control->is_initialized) {
+        ESP_LOGE(TAG, "%s: Invalid args!", __FUNCTION__);
+        return EINVAL;
+    }
+
+    uint32_t res = 1;
+#if defined(CONFIG_SPIRAM_SUPPORT)
+    if (esp_ptr_external_ram(once_control)) {
+        uxPortCompareSetExtram((uint32_t *) &once_control->init_executed, 0, &res);
+    } else {
+#endif
+        uxPortCompareSet((uint32_t *) &once_control->init_executed, 0, &res);
+#if defined(CONFIG_SPIRAM_SUPPORT)
+    }
+#endif
+    // Check if compare and set was successful
+    if (res == 0) {
+        ESP_LOGV(TAG, "%s: call init_routine %p", __FUNCTION__, once_control);
+        init_routine();
+    }
+
+    return 0;
+}
+
+/***************** MUTEX ******************/
+static int mutexattr_check(const pthread_mutexattr_t *attr)
+{
+    if (attr->type < PTHREAD_MUTEX_NORMAL || attr->type > PTHREAD_MUTEX_RECURSIVE) {
+        return EINVAL;
+    }
+    return 0;
+}
+
+int pthread_mutex_init(pthread_mutex_t *mutex, const pthread_mutexattr_t *attr)
+{
+    int type = PTHREAD_MUTEX_NORMAL;
+
+    if (!mutex) {
+        return EINVAL;
+    }
+
+    if (attr) {
+        if (!attr->is_initialized) {
+            return EINVAL;
+        }
+        int res = mutexattr_check(attr);
+        if (res) {
+            return res;
+        }
+        type = attr->type;
+    }
+
+    esp_pthread_mutex_t *mux = (esp_pthread_mutex_t *)malloc(sizeof(esp_pthread_mutex_t));
+    if (!mux) {
+        return ENOMEM;
+    }
+    mux->type = type;
+
+    if (mux->type == PTHREAD_MUTEX_RECURSIVE) {
+        mux->sem = xSemaphoreCreateRecursiveMutex();
+    } else {
+        mux->sem = xSemaphoreCreateMutex();
+    }
+    if (!mux->sem) {
+        free(mux);
+        return EAGAIN;
+    }
+
+    *mutex = (pthread_mutex_t)mux; // pointer value fit into pthread_mutex_t (uint32_t)
+
+    return 0;
+}
+
+int pthread_mutex_destroy(pthread_mutex_t *mutex)
+{
+    esp_pthread_mutex_t *mux;
+
+    ESP_LOGV(TAG, "%s %p", __FUNCTION__, mutex);
+
+    if (!mutex) {
+        return EINVAL;
+    }
+    mux = (esp_pthread_mutex_t *)*mutex;
+
+    // check if mux is busy
+    int res = pthread_mutex_lock_internal(mux, 0);
+    if (res == EBUSY) {
+        return EBUSY;
+    }
+
+    vSemaphoreDelete(mux->sem);
+    free(mux);
+
+    return 0;
+}
+
+static int IRAM_ATTR pthread_mutex_lock_internal(esp_pthread_mutex_t *mux, TickType_t tmo)
+{
+    if (mux->type == PTHREAD_MUTEX_RECURSIVE) {
+        if (xSemaphoreTakeRecursive(mux->sem, tmo) != pdTRUE) {
+            return EBUSY;
+        }
+    } else {
+        if (xSemaphoreTake(mux->sem, tmo) != pdTRUE) {
+            return EBUSY;
+        }
+    }
+
+    return 0;
+}
+
+static int pthread_mutex_init_if_static(pthread_mutex_t *mutex) {
+    int res = 0;
+    if ((intptr_t) *mutex == PTHREAD_MUTEX_INITIALIZER) {
+        portENTER_CRITICAL(&s_mutex_init_lock);
+        if ((intptr_t) *mutex == PTHREAD_MUTEX_INITIALIZER) {
+            res = pthread_mutex_init(mutex, NULL);
+        }
+        portEXIT_CRITICAL(&s_mutex_init_lock);
+    }
+    return res;
+}
+
+int IRAM_ATTR pthread_mutex_lock(pthread_mutex_t *mutex)
+{
+    if (!mutex) {
+        return EINVAL;
+    }
+    int res = pthread_mutex_init_if_static(mutex);
+    if (res != 0) {
+        return res;
+    }
+    return pthread_mutex_lock_internal((esp_pthread_mutex_t *)*mutex, portMAX_DELAY);
+}
+
+int IRAM_ATTR pthread_mutex_trylock(pthread_mutex_t *mutex)
+{
+    if (!mutex) {
+        return EINVAL;
+    }
+    int res = pthread_mutex_init_if_static(mutex);
+    if (res != 0) {
+        return res;
+    }
+    return pthread_mutex_lock_internal((esp_pthread_mutex_t *)*mutex, 0);
+}
+
+int IRAM_ATTR pthread_mutex_unlock(pthread_mutex_t *mutex)
+{
+    esp_pthread_mutex_t *mux;
+
+    if (!mutex) {
+        return EINVAL;
+    }
+    mux = (esp_pthread_mutex_t *)*mutex;
+
+    if (mux->type == PTHREAD_MUTEX_RECURSIVE) {
+        xSemaphoreGiveRecursive(mux->sem);
+    } else {
+        xSemaphoreGive(mux->sem);
+    }
+    return 0;
+}
+
+int pthread_mutexattr_init(pthread_mutexattr_t *attr)
+{
+    if (!attr) {
+        return EINVAL;
+    }
+    attr->type = PTHREAD_MUTEX_NORMAL;
+    attr->is_initialized = 1;
+    return 0;
+}
+
+int pthread_mutexattr_destroy(pthread_mutexattr_t *attr)
+{
+    if (!attr) {
+        return EINVAL;
+    }
+    attr->is_initialized = 0;
+    return 0;
+}
+
+int pthread_mutexattr_gettype(const pthread_mutexattr_t *attr, int *type)
+{
+    ESP_LOGE(TAG, "%s: not supported!", __FUNCTION__);
+    return ENOSYS;
+}
+
+int pthread_mutexattr_settype(pthread_mutexattr_t *attr, int type)
+{
+    if (!attr) {
+        return EINVAL;
+    }
+    pthread_mutexattr_t tmp_attr = {.type = type};
+    int res = mutexattr_check(&tmp_attr);
+    if (!res) {
+        attr->type = type;
+    }
+    return res;
+}
+
+#endif

components/pthread/src/pthread_cond_var.c

@@ -0,0 +1,205 @@
+// Copyright 2017 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// This is a simple implementation of pthread condition variables. In essence,
+// the waiter creates its own semaphore to wait on and pushes it in the cond var
+// specific list. Upon notify and broadcast, all the waiters for the given cond
+// var are woken up.
+
+#include <errno.h>
+#include <pthread.h>
+#include <string.h>
+#include <stdlib.h>
+#include "esp_err.h"
+#include "esp_attr.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/semphr.h"
+#include "freertos/private/list.h"
+
+#include <sys/queue.h>
+#include <sys/time.h>
+
+#ifdef CONFIG_ENABLE_PTHREAD
+
+#define LOG_LOCAL_LEVEL CONFIG_LOG_DEFAULT_LEVEL
+#include "esp_log.h"
+const static char *TAG = "esp_pthread";
+
+typedef struct esp_pthread_cond_waiter {
+    SemaphoreHandle_t   wait_sem;           ///< task specific semaphore to wait on
+    TAILQ_ENTRY(esp_pthread_cond_waiter) link;  ///< stash on the list of semaphores to be notified
+} esp_pthread_cond_waiter_t;
+
+typedef struct esp_pthread_cond {
+    _lock_t lock;                      ///< lock that protects the list of semaphores
+    TAILQ_HEAD(, esp_pthread_cond_waiter) waiter_list;  ///< head of the list of semaphores
+} esp_pthread_cond_t;
+
+int pthread_cond_signal(pthread_cond_t *cv)
+{
+    if (cv == NULL || *cv == (pthread_cond_t) 0) {
+        return EINVAL;
+    }
+
+    esp_pthread_cond_t *cond = (esp_pthread_cond_t *) *cv;
+
+    _lock_acquire_recursive(&cond->lock);
+    esp_pthread_cond_waiter_t *entry;
+    entry = TAILQ_FIRST(&cond->waiter_list);
+    if (entry) {
+        xSemaphoreGive(entry->wait_sem);
+    }
+    _lock_release_recursive(&cond->lock);
+
+    return 0;
+}
+
+int pthread_cond_broadcast(pthread_cond_t *cv)
+{
+    if (cv == NULL || *cv == (pthread_cond_t) 0) {
+        return EINVAL;
+    }
+
+    esp_pthread_cond_t *cond = (esp_pthread_cond_t *) *cv;
+
+    _lock_acquire_recursive(&cond->lock);
+    esp_pthread_cond_waiter_t *entry;
+    TAILQ_FOREACH(entry, &cond->waiter_list, link) {
+        xSemaphoreGive(entry->wait_sem);
+    }
+    _lock_release_recursive(&cond->lock);
+
+    return 0;
+}
+
+int pthread_cond_wait(pthread_cond_t *cv, pthread_mutex_t *mut)
+{
+    return pthread_cond_timedwait(cv, mut, NULL);
+}
+
+int pthread_cond_timedwait(pthread_cond_t *cv, pthread_mutex_t *mut, const struct timespec *to)
+{
+    int ret;
+    TickType_t timeout_ticks;
+
+    if (cv == NULL || *cv == (pthread_cond_t) 0) {
+        return EINVAL;
+    }
+
+    esp_pthread_cond_t *cond = (esp_pthread_cond_t *) *cv;
+
+    if (to == NULL) {
+        timeout_ticks = portMAX_DELAY;
+    } else {
+        struct timeval abs_time, cur_time, diff_time;
+        long timeout_msec;
+
+        gettimeofday(&cur_time, NULL);
+
+        abs_time.tv_sec = to->tv_sec;
+        abs_time.tv_usec = to->tv_nsec / 1000;
+
+        if (timercmp(&abs_time, &cur_time, <)) {
+            /* As per the pthread spec, if the time has already
+             * passed, no sleep is required.
+             */
+            timeout_msec = 0;
+        } else {
+            timersub(&abs_time, &cur_time, &diff_time);
+            timeout_msec = (diff_time.tv_sec * 1000) + (diff_time.tv_usec / 1000);
+        }
+
+        if (timeout_msec <= 0) {
+            return ETIMEDOUT;
+        }
+
+        timeout_ticks = timeout_msec / portTICK_PERIOD_MS;
+    }
+
+    esp_pthread_cond_waiter_t w;
+    w.wait_sem = xSemaphoreCreateCounting(1, 0); /* First get will block */
+
+    _lock_acquire_recursive(&cond->lock);
+    TAILQ_INSERT_TAIL(&cond->waiter_list, &w, link);
+    _lock_release_recursive(&cond->lock);
+    pthread_mutex_unlock(mut);
+
+    if (xSemaphoreTake(w.wait_sem, timeout_ticks) == pdTRUE) {
+        ret = 0;
+    } else {
+        ret = ETIMEDOUT;
+    }
+
+    _lock_acquire_recursive(&cond->lock);
+    TAILQ_REMOVE(&cond->waiter_list, &w, link);
+    _lock_release_recursive(&cond->lock);
+    vSemaphoreDelete(w.wait_sem);
+
+    pthread_mutex_lock(mut);
+    return ret;
+}
+
+int pthread_condattr_init(pthread_condattr_t *attr)
+{
+    ESP_LOGV(TAG, "%s not yet implemented (%p)", __FUNCTION__, attr);
+    return ENOSYS;
+}
+
+int pthread_cond_init(pthread_cond_t *cv, const pthread_condattr_t *att)
+{
+    (void) att; /* Unused argument as of now */
+
+    if (cv == NULL) {
+        return EINVAL;
+    }
+
+    esp_pthread_cond_t *cond = (esp_pthread_cond_t *) calloc(1, sizeof(esp_pthread_cond_t));
+    if (cond == NULL) {
+        return ENOMEM;
+    }
+
+    _lock_init_recursive(&cond->lock);
+    TAILQ_INIT(&cond->waiter_list);
+
+    *cv = (pthread_cond_t) cond;
+    return 0;
+}
+
+int pthread_cond_destroy(pthread_cond_t *cv)
+{
+    int ret = 0;
+
+    if (cv == NULL || *cv == (pthread_cond_t) 0) {
+        return EINVAL;
+    }
+
+    esp_pthread_cond_t *cond = (esp_pthread_cond_t *) *cv;
+
+    _lock_acquire_recursive(&cond->lock);
+    if (!TAILQ_EMPTY(&cond->waiter_list)) {
+        ret = EBUSY;
+    }
+    _lock_release_recursive(&cond->lock);
+
+    if (ret == 0) {
+        *cv = (pthread_cond_t) 0;
+        _lock_close_recursive(&cond->lock);
+        free(cond);
+    }
+
+    return ret;
+}
+
+#endif

components/pthread/src/pthread_internal.h

@@ -0,0 +1,16 @@
+// Copyright 2017 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#pragma once
+
+void pthread_internal_local_storage_destructor_callback();

components/pthread/src/pthread_local_storage.c

@@ -0,0 +1,272 @@
+// Copyright 2017 Espressif Systems (Shanghai) PTE LTD
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#include <errno.h>
+#include <pthread.h>
+#include <string.h>
+#include <stdlib.h>
+#include "esp_err.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "sys/lock.h"
+#include "sys/queue.h"
+
+#include "pthread_internal.h"
+
+#ifdef CONFIG_ENABLE_PTHREAD
+
+#define PTHREAD_TLS_INDEX 1
+
+#if portNUM_PROCESSORS == 1
+#undef portENTER_CRITICAL
+#undef portEXIT_CRITICAL
+
+#define portENTER_CRITICAL(l)   vPortEnterCritical()
+#define portEXIT_CRITICAL(l)    vPortExitCritical()
+#endif
+
+typedef void (*pthread_destructor_t)(void*);
+
+/* This is a very naive implementation of key-indexed thread local storage, using two linked lists
+   (one is a global list of registered keys, one per thread for thread local storage values).
+
+   It won't work well if lots of keys & thread-local values are stored (O(n) lookup for both),
+   but it should work for small amounts of data.
+*/
+typedef struct key_entry_t_ {
+    pthread_key_t key;
+    pthread_destructor_t destructor;
+    SLIST_ENTRY(key_entry_t_) next;
+} key_entry_t;
+
+// List of all keys created with pthread_key_create()
+SLIST_HEAD(key_list_t, key_entry_t_) s_keys = SLIST_HEAD_INITIALIZER(s_keys);
+
+#if portNUM_PROCESSORS > 1
+static portMUX_TYPE s_keys_lock = portMUX_INITIALIZER_UNLOCKED;
+#endif
+
+// List of all value entries associated with a thread via pthread_setspecific()
+typedef struct value_entry_t_ {
+    pthread_key_t key;
+    void *value;
+    SLIST_ENTRY(value_entry_t_) next;
+} value_entry_t;
+
+// Type for the head of the list, as saved as a FreeRTOS thread local storage pointer
+SLIST_HEAD(values_list_t_, value_entry_t_);
+typedef struct values_list_t_ values_list_t;
+
+int pthread_key_create(pthread_key_t *key, pthread_destructor_t destructor)
+{
+    key_entry_t *new_key = malloc(sizeof(key_entry_t));
+    if (new_key == NULL) {
+        return ENOMEM;
+    }
+
+    portENTER_CRITICAL(&s_keys_lock);
+
+    const key_entry_t *head = SLIST_FIRST(&s_keys);
+    new_key->key = (head == NULL) ? 1 : (head->key + 1);
+    new_key->destructor = destructor;
+    *key = new_key->key;
+
+    SLIST_INSERT_HEAD(&s_keys, new_key, next);
+
+    portEXIT_CRITICAL(&s_keys_lock);
+    return 0;
+}
+
+static key_entry_t *find_key(pthread_key_t key)
+{
+    portENTER_CRITICAL(&s_keys_lock);
+    key_entry_t *result = NULL;;
+    SLIST_FOREACH(result, &s_keys, next) {
+        if(result->key == key) {
+            break;
+        }
+    }
+    portEXIT_CRITICAL(&s_keys_lock);
+    return result;
+}
+
+int pthread_key_delete(pthread_key_t key)
+{
+
+    portENTER_CRITICAL(&s_keys_lock);
+
+    /* Ideally, we would also walk all tasks' thread local storage value_list here
+       and delete any values associated with this key. We do not do this...
+    */
+
+    key_entry_t *entry = find_key(key);
+    if (entry != NULL) {
+        SLIST_REMOVE(&s_keys, entry, key_entry_t_, next);
+        free(entry);
+    }
+
+    portEXIT_CRITICAL(&s_keys_lock);
+
+    return 0;
+}
+
+/* Clean up callback for deleted tasks.
+
+   This is called from one of two places:
+
+   If the thread was created via pthread_create() then it's called by pthread_task_func() when that thread ends,
+   and the FreeRTOS thread-local-storage is removed before the FreeRTOS task is deleted.
+
+   For other tasks, this is called when the FreeRTOS idle task performs its task cleanup after the task is deleted.
+
+   (The reason for calling it early for pthreads is to keep the timing consistent with "normal" pthreads, so after
+   pthread_join() the task's destructors have all been called even if the idle task hasn't run cleanup yet.)
+*/
+static void pthread_local_storage_thread_deleted_callback(int index, void *v_tls)
+{
+    values_list_t *tls = (values_list_t *)v_tls;
+    assert(tls != NULL);
+
+    /* Walk the list, freeing all entries and calling destructors if they are registered */
+    value_entry_t *entry = SLIST_FIRST(tls);
+    while(entry != NULL) {
+        // This is a little slow, walking the linked list of keys once per value,
+        // but assumes that the thread's value list will have less entries
+        // than the keys list
+        key_entry_t *key = find_key(entry->key);
+        if (key != NULL && key->destructor != NULL) {
+            key->destructor(entry->value);
+        }
+        value_entry_t *next_entry = SLIST_NEXT(entry, next);
+        free(entry);
+        entry = next_entry;
+    }
+    free(tls);
+}
+
+#if defined(CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK)
+/* Called from FreeRTOS task delete hook */
+void pthread_local_storage_cleanup(TaskHandle_t task)
+{
+    void *tls = pvTaskGetThreadLocalStoragePointer(task, PTHREAD_TLS_INDEX);
+    if (tls != NULL) {
+        pthread_local_storage_thread_deleted_callback(PTHREAD_TLS_INDEX, tls);
+        vTaskSetThreadLocalStoragePointer(task, PTHREAD_TLS_INDEX, NULL);
+    }
+}
+
+void __real_vPortCleanUpTCB(void *tcb);
+
+/* If static task cleanup hook is defined then its applications responsibility to define `vPortCleanUpTCB`.
+   Here we are wrapping it, so that we can do pthread specific TLS cleanup and then invoke application
+   real specific `vPortCleanUpTCB` */
+void __wrap_vPortCleanUpTCB(void *tcb)
+{
+    pthread_local_storage_cleanup(tcb);
+    __real_vPortCleanUpTCB(tcb);
+}
+#endif
+
+/* this function called from pthread_task_func for "early" cleanup of TLS in a pthread */
+void pthread_internal_local_storage_destructor_callback()
+{
+    void *tls = pvTaskGetThreadLocalStoragePointer(NULL, PTHREAD_TLS_INDEX);
+    if (tls != NULL) {
+        pthread_local_storage_thread_deleted_callback(PTHREAD_TLS_INDEX, tls);
+        /* remove the thread-local-storage pointer to avoid the idle task cleanup
+           calling it again...
+        */
+#if defined(CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK)
+        vTaskSetThreadLocalStoragePointer(NULL, PTHREAD_TLS_INDEX, NULL);
+#else
+        vTaskSetThreadLocalStoragePointerAndDelCallback(NULL,
+                                                        PTHREAD_TLS_INDEX,
+                                                        NULL,
+                                                        NULL);
+#endif
+    }
+}
+
+static value_entry_t *find_value(const values_list_t *list, pthread_key_t key)
+{
+    value_entry_t *result = NULL;;
+    SLIST_FOREACH(result, list, next) {
+        if(result->key == key) {
+            break;
+        }
+    }
+    return result;
+}
+
+void *pthread_getspecific(pthread_key_t key)
+{
+    values_list_t *tls = (values_list_t *) pvTaskGetThreadLocalStoragePointer(NULL, PTHREAD_TLS_INDEX);
+    if (tls == NULL) {
+        return NULL;
+    }
+
+    value_entry_t *entry = find_value(tls, key);
+    if(entry != NULL) {
+        return entry->value;
+    }
+    return NULL;
+}
+
+int pthread_setspecific(pthread_key_t key, const void *value)
+{
+    key_entry_t *key_entry = find_key(key);
+    if (key_entry == NULL) {
+        return ENOENT; // this situation is undefined by pthreads standard
+    }
+
+    values_list_t *tls = pvTaskGetThreadLocalStoragePointer(NULL, PTHREAD_TLS_INDEX);
+    if (tls == NULL) {
+        tls = calloc(1, sizeof(values_list_t));
+        if (tls == NULL) {
+            return ENOMEM;
+        }
+#if defined(CONFIG_ENABLE_STATIC_TASK_CLEAN_UP_HOOK)
+        vTaskSetThreadLocalStoragePointer(NULL, PTHREAD_TLS_INDEX, tls);
+#else
+        vTaskSetThreadLocalStoragePointerAndDelCallback(NULL,
+                                                        PTHREAD_TLS_INDEX,
+                                                        tls,
+                                                        pthread_local_storage_thread_deleted_callback);
+#endif
+    }
+
+    value_entry_t *entry = find_value(tls, key);
+    if (entry != NULL) {
+        if (value != NULL) {
+            // cast on next line is necessary as pthreads API uses
+            // 'const void *' here but elsewhere uses 'void *'
+            entry->value = (void *) value;
+        } else { // value == NULL, remove the entry
+            SLIST_REMOVE(tls, entry, value_entry_t_, next);
+            free(entry);
+        }
+    } else if (value != NULL) {
+        entry = malloc(sizeof(value_entry_t));
+        if (entry == NULL) {
+            return ENOMEM;
+        }
+        entry->key = key;
+        entry->value = (void *) value; // see note above about cast
+        SLIST_INSERT_HEAD(tls, entry, next);
+    }
+
+    return 0;
+}
+
+#endif

components/pthread/test/component.mk

@@ -0,0 +1,9 @@
+#
+#Component Makefile
+#
+
+COMPONENT_SRCDIRS := .
+
+#CXXFLAGS += -H
+
+COMPONENT_ADD_LDFLAGS = -Wl,--whole-archive -l$(COMPONENT_NAME) -Wl,--no-whole-archive

components/pthread/test/test_pthread_local_storage.c

@@ -0,0 +1,131 @@
+// Test pthread_create_key, pthread_delete_key, pthread_setspecific, pthread_getspecific
+#include <pthread.h>
+#include <stdio.h>
+#include "unity.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+TEST_CASE("pthread local storage basics", "[pthread]")
+{
+    pthread_key_t key;
+    TEST_ASSERT_EQUAL(0, pthread_key_create(&key, NULL));
+
+    TEST_ASSERT_NULL(pthread_getspecific(key));
+    int val = 3;
+
+    printf("Setting to %p...\n", &val);
+    TEST_ASSERT_EQUAL(0, pthread_setspecific(key, &val));
+
+    printf("Reading back...\n");
+    TEST_ASSERT_EQUAL_PTR(&val, pthread_getspecific(key));
+
+    printf("Setting to NULL...\n");
+    TEST_ASSERT_EQUAL(0, pthread_setspecific(key, NULL));
+
+    printf("Reading back...\n");
+    TEST_ASSERT_NULL(pthread_getspecific(key));
+
+    TEST_ASSERT_EQUAL(0, pthread_key_delete(key));
+}
+
+TEST_CASE("pthread local storage unique keys", "[pthread]")
+{
+    const int NUM_KEYS = 10;
+    pthread_key_t keys[NUM_KEYS];
+
+    for (int i = 0; i < NUM_KEYS; i++) {
+        TEST_ASSERT_EQUAL(0, pthread_key_create(&keys[i], NULL));
+        printf("New key %d = %d\n", i, keys[i]);
+    }
+
+    for (int i = 0; i < NUM_KEYS; i++) {
+        for (int j = 0; j < NUM_KEYS; j++) {
+            if (i != j) {
+                TEST_ASSERT_NOT_EQUAL(keys[i], keys[j]);
+            }
+        }
+    }
+
+    for (int i = 0; i < NUM_KEYS; i++) {
+        TEST_ASSERT_EQUAL(0, pthread_key_delete(keys[i]));
+    }
+}
+
+static void test_pthread_destructor(void *);
+static void *expected_destructor_ptr;
+static void *actual_destructor_ptr;
+static void *thread_test_pthread_destructor(void *);
+
+TEST_CASE("pthread local storage destructor", "[pthread]")
+{
+    pthread_t thread;
+    pthread_key_t key = -1;
+
+    expected_destructor_ptr = NULL;
+    actual_destructor_ptr = NULL;
+
+    TEST_ASSERT_EQUAL(0, pthread_key_create(&key, test_pthread_destructor));
+
+    TEST_ASSERT_EQUAL(0, pthread_create(&thread, NULL, thread_test_pthread_destructor, (void *)key));
+    TEST_ASSERT_EQUAL(0, pthread_join(thread, NULL));
+
+    printf("Joined...\n");
+    TEST_ASSERT_NOT_NULL(expected_destructor_ptr);
+    TEST_ASSERT_NOT_NULL(actual_destructor_ptr);
+    TEST_ASSERT_EQUAL_PTR(expected_destructor_ptr, actual_destructor_ptr);
+
+    TEST_ASSERT_EQUAL(0, pthread_key_delete(key));
+}
+
+static void task_test_pthread_destructor(void *v_key);
+
+TEST_CASE("pthread local storage destructor in FreeRTOS task", "[pthread]")
+{
+    // Same as previous test case, but doesn't use pthread APIs therefore must wait
+    // for the idle task to call the destructor
+    pthread_key_t key = -1;
+
+    expected_destructor_ptr = NULL;
+    actual_destructor_ptr = NULL;
+
+    TEST_ASSERT_EQUAL(0, pthread_key_create(&key, test_pthread_destructor));
+
+    xTaskCreate(task_test_pthread_destructor,
+                "ptdest", 8192, (void *)key, UNITY_FREERTOS_PRIORITY+1,
+                NULL);
+
+    // Above task has higher priority to us, so should run immediately
+    // but we need to wait for the idle task cleanup to run
+    vTaskDelay(20);
+
+    TEST_ASSERT_NOT_NULL(expected_destructor_ptr);
+    TEST_ASSERT_NOT_NULL(actual_destructor_ptr);
+    TEST_ASSERT_EQUAL_PTR(expected_destructor_ptr, actual_destructor_ptr);
+
+    TEST_ASSERT_EQUAL(0, pthread_key_delete(key));
+}
+
+
+
+static void *thread_test_pthread_destructor(void *v_key)
+{
+    printf("Local storage thread running...\n");
+    pthread_key_t key = (pthread_key_t) v_key;
+    expected_destructor_ptr = &key; // address of stack variable in the task...
+    pthread_setspecific(key, expected_destructor_ptr);
+    printf("Local storage thread done.\n");
+    return NULL;
+}
+
+static void test_pthread_destructor(void *value)
+{
+    printf("Destructor called...\n");
+    actual_destructor_ptr = value;
+}
+
+static void task_test_pthread_destructor(void *v_key)
+{
+    /* call the pthread main routine, then delete ourselves... */
+    thread_test_pthread_destructor(v_key);
+    vTaskDelete(NULL);
+}