Isaac Marino Bavaresco wrote:
>> A mechanism to ensure the state machine is called periodically.
>
> Call it from the main loop every iteration. If it doesn't have
> anything to do it just returns and takes very little CPU time.

Or make it a separate task.  All task call TASK_YIELD periodically, which
lets all other tasks run once.  I don't mean anything fancy, just a simple
cooperative round-robin tasking system.  Such a system is available in my
PIC development environment.  See QQQ_TASK.ASPIC and TASK.INS.ASPIC in the
SOURCE > PIC directory after installation.


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