RIOT-THREADS

main.c

#include <stdio.h>
#include <string.h>
#include "thread.h"
#include "xtimer.h"
#include "timex.h"
#include "periph/gpio.h"

char stack_one[THREAD_STACKSIZE_DEFAULT];
char stack_two[THREAD_STACKSIZE_DEFAULT];

void *thread_one(void *arg)
{
    (void) arg;
    xtimer_ticks32_t last_wakeup_one = xtimer_now();
    while(1){
    	gpio_toggle(GPIO_PIN(PORT_C,8));
    	xtimer_periodic_wakeup(&last_wakeup_one, 100000);
    }
    return NULL;
}

void *thread_two(void *arg)
{
    (void) arg;
    xtimer_ticks32_t last_wakeup_two = xtimer_now();
    while(1){
    	gpio_toggle(GPIO_PIN(PORT_C,9));
    	xtimer_periodic_wakeup(&last_wakeup_two, 99333);
    }
    return NULL;
}

int main(void)
{
	gpio_init(GPIO_PIN(PORT_C,8), GPIO_OUT);
	gpio_init(GPIO_PIN(PORT_C,9), GPIO_OUT);

    thread_create(stack_one, sizeof(stack_one),
                    THREAD_PRIORITY_MAIN - 1,
                    THREAD_CREATE_STACKTEST,
                    thread_one,
                    NULL, "thread_one");

    thread_create(stack_two, sizeof(stack_two),
                    THREAD_PRIORITY_MAIN - 2,
                    THREAD_CREATE_STACKTEST,
                    thread_two,
                    NULL, "thread_two");


    return 0;
}

Makefile

APPLICATION = threads
RIOTBASE ?= $(CURDIR)/../../RIOT
BOARD ?= stm32f0discovery
USEMODULE += xtimer
CFLAGS += -DDEVELHELP
QUIET ?= 1

FEATURES_REQUIRED += periph_timer
FEATURES_REQUIRED += periph_gpio

include $(RIOTBASE)/Makefile.include