Peter, I read "I must admit, I use still the stupid main loop approach." I disagree, there is nothing stupid about the main loop approach. While there are cases whwre a RTOS is definitely called for, I have seen much overuse of RTOS. E. g. an application that collects analog data, digitizes it and send it on a 485 line does not require a RTOS, but you will still see it used. It should be a matter of RTOS when needed, not RTOS for the sake of RTOS. I did the OS for a XA product (1Mb) with a stupid main loop (and a few tricks using software interrupts) for a company that had failed to make it work with a RTOS.
I am now working on a product that never would have worked without a RTOS.
Sorry about the verbosity, let me say RTOS when needed and only when needed"
have fun
Erik Malund