Periodic thread with Linux

[silverio.di at qem.it]

Hi to all,
sorry If I use this group to ask Linux matter but,
I hope someone could help me to create a
periodic thread execution, in other words I would:

- a thread which is executed every 10ms and when it
finish it execution code  goes in sleep state till the next
time planned execution....

    1ms                          2ms                          3ms
4ms                           5ms
     |- - - - - - - - - - - - - - -|- - - - - - - - - - - - - - -|- - - - -
- - - - - - - - - -|- - - - - - - - - - - - - - -|- - - -

beeeeees..............beees.....................bes...........................beeeeees...............

where:

  b = entry point of thread code
  e = esecution of thread code
  s = end (sleep state) of thread code
  . = other thread in scheduling

thank you very much