> Says my  program has 4 tasks.  Each of them requires
> 1ms to execute and I want to run them every 10ms.  If
> the OS initializes all tasks at the same time (this is
> usually the case), after 10ms, all 4 tasks are ready
> to run.  Regardless of how the OS determines which
> task to run first, the last task won't be executed
> until 3ms later.  This is quite inefficient because
> for the next 6ms, the system will sit idle, doing
> nothing.

Usually, you resolve something like that by one of the following, if it is
a problem:
- assigning priorities to tasks (if you have a preemtive system and one of
the tasks can't wait) and/or
- scheduling the tasks the way you want. (Nobody forces you to start all 4
10 ms timers at the same time -- you can start them one after the other,
with something like 2 ms in between.)

But it really depends on what the exact problem is.

Gerhard

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