Classes
class	modm::rtos::BinarySemaphore
	Binary semaphore More...

class	modm::rtos::Mutex
	Mutex More...

class	modm::rtos::MutexGuard

class	modm::rtos::Queue< T >
	Queue More...

class	modm::rtos::Scheduler

class	modm::rtos::Semaphore
	Counting semaphore More...

class	modm::rtos::Thread
	Thread More...

Macros
#define	TIME_LOOP(frequency)
	Create a timed periodic loop. More...

#define	MILLISECONDS
	Convert between scheduler ticks and milliseconds. More...

Detailed Description

lbuild module: modm:processing:rtos

Basic building blocks of an RTOS abstracted as C++ classes and implemented either with FreeRTOS or stdlibc++.

Macro Definition Documentation

#define MILLISECONDS

Convert between scheduler ticks and milliseconds.

For example 20 ms in scheduler ticks might be written as:

20 * MILLISECONDS

This should only be used with constant values as the calculation is done using floating point. For constant values the compiler will do the calculation at compile time.

For non constant value use the following formula:

static_cast<TickType_t>((time * configTICK_RATE_HZ) / 1000)

The parentheses are important because otherwise the division might be done first which will lead to wrong results.

#define TIME_LOOP

Create a timed periodic loop.

Example:

void
Thread::run()
{
    TIME_LOOP(20 * MILLISECONDS)
    {
        // will be executed every 20ms
    }
}

Parameters

frequency Frequency in ticks

See also: MILLISECONDS; vTaskDelayUntil() from FreeRTOS

Classes

Macros

Detailed Description

Macro Definition Documentation