I aggree with Michael.

The main loop approach was most efficient in respect to speed and code / data memory usage.

I think a RTOS was only tried by such guys, which came from the UNIX / Windows programming world. Since then they have no feeling for execution speed and memory size.

Also an RTOS was no magician. You need still to count the execution time of every task to determine the real time behaviour of the whole program.
Adding tasks without such considerations must fail sooner or later.


And many other facts already discussed many times on this forum.

Please use the search button on the left side.


Peter