I implemented that myself here.
Initially, I wanted to implement something similar as suggested here, i.e. getting somehow the top frame pointer of the thread and unwinding it manually (the linked source is derived from Apples backtrace
implementation, thus might be Apple-specific, but the idea is generic).
However, to have that safe (and the source above is not and may even be broken anyway), you must suspend the thread while you access its stack. I searched around for different ways to suspend a thread and found this, this and this. Basically, there is no really good way. The common hack, also used by the Hotspot JAVA VM, is to use signals and sending a custom signal to your thread via pthread_kill.
So, as I would need such signal-hack anyway, I can have it a bit simpler and just use backtrace
inside the called signal handler which is executed in the target thread (as also suggested here by sandeep). This is basically what my implementation is doing.
If you are also interested in printing the backtrace, i.e. get some useful debugging information (function name, source code filename, source code line number, ...), read here about an extended backtrace_symbols
based on libbfd. Or just see the source here.