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Hi Til, Thank you very much for the reply. In the last days we've tried to do "by hand" what we suppose priority inheritance has to do, and we've solved our issue. I show here a simplified version of what we have done. I've modified the code of LPTask and HPTask the way that can seen below, and all seems to work as we want, irrespective of the cooperate task switch. The MPTask does not run anymore instead of HPTask. Source Code (41 lines) What it looks like to me, is that a cooperative switch ca…

Hello, I'm writing here because i would like to have some opinion from experienced users about the "priority inheritance" of embOS tasks, it's use and it's limitations. In my opinion it would be a very useful feature to handle prioritized access to resources, but we found that you have to be very careful when you use some OS API. Here the story... We're using embOS for our multitasking application. In our application, one task have to access to a peripheral "P" in "precise" time slots, within a …