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Summary of change:
'''Developer info to improve scheduler''' When we move some trigger-data processing to userspace, the simple scheduler used now (mainloop) must be improved so latency of some high-priority actions is improved. See the priority ideas on GenBoard/UnderDevelopment/FirmWare Even though it is relatively simple, it's a good idea to model it in JAVA first (see ''package org.vemsgroup.firmware.scheduler'' in JTune CVS) to verify operation (and maybe tune some variables). Similar scheduler is implemented in most real-time operating systems. See task-states on an [http://www.on-time.com/index.html?page=rtpeg32.htm an x86 RTOS]. However we don't need preemptive multitasking. Cooperative is fine. So no need for separate stack for each process. When the process returns, it's stack is back to normal anyway. Timing sensitive tasks must be done in interrupt or high-priority process. A nice OS with non-preemptive multitasking running on the atmega16 (gpl and compilable with avr-gcc) can be found here [http://www.ethernut.de/en/software.html ethernut.de]
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