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modm::rtos::Scheduler Class Reference
Processing » RTOS Abstractions

#include <modm/processing/rtos/scheduler.hpp>

Static Public Member Functions

static void schedule ()
 Starts the real time kernel. More...
 
static TickType_t getTicks ()
 The count of ticks since Scheduler::schedule() was called.
 

Detailed Description

FreeRTOS Scheduler

Interrupt Priorities

The STM32 implements only four priority bits. The lower four bits of the eight bit priority register are unused. A lower value means a higher priority. Therefore 0 (=0) is the highest priority and 15 (=15 << 4 => 0xf0) is the lowest priority.

The Kernel has the lowest possible priority 15 to make sure that it is not interrupting any other interrupt. During the execution of an API function the priority is raised to 11.

Any interrupt that calls an API function must have a priority between 15 and 11, otherwise the system might crash.

Interrupts that do not use any FreeRTOS API functions can use any interrupt priority. If the priority is higher (lower value) than 11 the execution won't be delayed by anything the kernel is doing.

Member Function Documentation

static void modm::rtos::Scheduler::schedule ( )
inlinestatic

Starts the real time kernel.

Starts the SysTick Timer (1ms period) and attaches to its interrupt.

The idle thread is created automatically when schedule() is called.

Warning
This function will never return.
The documentation for this class was generated from the following file: