Sandu:
I took a quick look at the Atmel scheduler. I would like to comment a few things about using this.

1) It does not appear to be too heavy weight. But it does add inefficiency into your program execution.

2) Using this thing does add a layer of abstraction to the programming for a project which, in my opinion, adds more complexity to your sources and to the debugging process. I would _not_ be willing to accept this extra complexity for one of my projects.

3) There appear to be several scheduler functions to which I could see no source code. Two examples are Scheduler_call_next_task() and Scheduler_new_schedule(). I would be loath to apply code from a "free" web page into a commercial project without full source for everything.

If it turns out that your application is good enough with a 10Hz to 16.6Hz sample rate (100 msec -> 60 msec) then using this "scheduler" is probably going to be ok from a performance standpoint. On the other hand if you were trying to build something that wanted to use a sample rate that was 10x or 20x as fast then I would suggest direct coding the algorithms instead of hiding them inside the fuzz of this scheduler.

Michael Karas