Hello,

You may consider using a task sequencer.
I've wrote one able to manage tasks groups of 10ms (odd & oven), 20, 50, 100, 250, 500 and 1000ms.

The sequencer tic is achieved by a 16 bits free running timer. The code is able to store the minimum remaining time from one path and the remaining time for each path allowing simple debug.

The tasks management principle is described in my website in the resources pages (8051real time sequencer)

http://perso.wanadoo.fr/rs-rey/el...essources/

The code size is less than 500 bytes.

It's really simple to use and allow simple intergration of added code. Especially useful when coding with more than 1 guy !

Let me know if you want further details or explanations

Regards



Stephane