In SX Microcontrollers, SX/B Compiler and SX-Key Tool, peterverkaik wrote:

Bean,
I attached a test program I am working on.
The Reschedule subroutine does not work yet, but I hope it shows
what I have in mind. I am testing using sx/b for the scheduler.
Once we have the fastest algorithm to achieve this, it could be 
changed to assembly because in the end the compiler will
insert the scheduler code.
Note that I defined the tasks at this moment just as SUBs
with predefined interval times in the tasklist.
Once you have the TASK identifier, the compiler can fill the tasklist.

regards peter

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