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scmRTOS for Arduino =================== scmRTOS (http://scmrtos.sourceforge.net/ScmRTOS) is a lightweight RTOS well suited to the AVR. This library provides the core scmRTOS functionality in an easy-to-use fashion for use with Arduino. No modifications to the Arduino base are required. Arduino functions that are interrupt-safe can be used safely in more than one process. This is a (partial) list of those functions: pinMode (each pin should be used by only one process) digitalWrite (each pin should be used by only one process) digitalRead (each pin should be used by only one process) millis micros delay (use OS::delay to give time to other processes) delayMicroseconds shiftIn (pins must not be shared between processes) shiftOut (pins must not be shared between processes) all Math functions all Trigonometry functions all Bits and Bytes functions noInterupts (also stops process switching) interrupts The user is responsible for ensuring that other functions and libraries called from different processes do not conflict; in general it is safest to limit most Arduino library calls to a single process. To use the library, include <scmRTOS.h>. The library provides three processes, which must be configured for stack size and the loop function that they will call respectively. Processes are configured with the scmRTOS_PROCESS() macro: scmRTOS_PROCESS(<process number>, <stack size>, <loop function>); The available process numbers are 0, 1 and 2. Process 0 has the highest priority, and process 2 the lowest priority. There is no sharing of the CPU between processes; a lower priority process will only run if the higher-priority process is blocked (e.g. in OS::delay). The stack size should be sufficient for the process' needs, but bear in mind that the sum of all stack sizes must fit in RAM along with other variables. The loop function behaves the same as the Arduino loop() function - the process will call it repeatedly. At the end of the Arduino setup() function, call scmRTOS_START(); This call will not return. For more details, see the scmRTOS documentation. Note, however, that this library is based on scmRTOS pre-v400, and the existing English documentation is rather out of date.