I use assembler with PIC18 processors for my applications together with a home-brewed RTOS (more of a cooperative task executive). There are no bells and whistles but it has served me well (or so I think) in some fairly involved control applications where some tasks require execution at predefined rates - say 20 to 200mSec. How about you guys - do you use an RTOS and what is your experience.
Lourens
Lourens