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Before you turn away from. This introduction will have a couple examples. Code is written in a simple non-linear style. The run-time takes care of how to schedule it on your processing cores automatically.
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Cortex-M3 Russian-made micro-controller as a secondary micro-controller on the BMSTU-Sail satellite, and also as a primary micro-controller on the subsequent developments. As far as this micro-controller should work in asynchronous mode, we use the RTEMS. Real-time operating system with RTEMS Classic API, since POSIX threads realization in RTEMS takes a lot of operating memory.