Michael Karas wrote:
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But....with a scheduler wouldnt you normally have to restore a whole stack context for the task you are trying to let resume? That could not be done by setting the SP to point to various places within the higher interal RAM space, or by block copying context data into the stack area from XDATA (the VERY inefficient method).

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that is correct.i am using the second option and it leads to context switch times in 250 microsec range.
the stack is a real problem.the overhead is even more if task is using up more stack space.timer ticks tend to be not very accurate,BUT it was real fun implementing it.

Pranav