v2.1.0 - microsecond resolution, startNow()v2.1.0

 * support for microsecond resolution
 * added Scheduler baseline start time reset method: startNow()
 * added Example #13 for microseconds resolution test

9 files changed, 3022 insertions, 2820 deletions

diff --git a/README b/README
index 3ccaf87..51c2be3 100644
--- a/README
+++ b/README
@@ -1,9 +1,12 @@
 Task Scheduler – cooperative multitasking for Arduino microcontrollers
 Version 2.1.0: 2016-02-01
+
+If you find TaskScheduler useful for your Arduino project, please drop me an email: arkhipenko@hotmail.com
+----------------------------------------------------------------------------------------------------------
   
 OVERVIEW:
  A lightweight implementation of cooperative multitasking (task scheduling) supporting:
- 1. Periodic task execution (with dynamic execution period in milliseconds)
+ 1. Periodic task execution (with dynamic execution period in milliseconds or microseconds)
  2. Number of iterations (n times)
  3. Execution of tasks in predefined sequence
  4. Dynamic change of task execution parameters (frequency, number of iterations, callback function)
@@ -18,9 +21,34 @@ Scheduling overhead: between 15 and 18 microseconds per scheduling pass (check t
 For detailed functionality overview please refer to TaskScheduler documentation in the 'extras' folder.
 =======================================================================================================
 
+Check out what TaskScheduler can do:
+====================================
+  Houston midi clock project - TaskScheduler with microseconds resolution
+    (by chaffneue: My first arduino project. It's a multi-master midi controller with a shared clock and 
+     auto count in behaviour. Project files on github: https://github.com/chaffneue/houston
+	 youtube: https://www.youtube.com/watch?v=QRof550TtXo)
+	  
+  Aurora Chaser Cubesat project, University of Sydney (Yay! TaskScheduler goes to space)
+    (by Jordan Jolly: http://52.35.220.33/blogs/jordan-jolly-cubesat--aero3670--blog)
+	
+  Arduino Nano based Hexbug Scarab Robotic Spider 
+    (by arkhipenko: http://www.instructables.com/id/Arduino-Nano-based-Hexbug-Scarab-Robotic-Spider/)
+	
+  Wave your hand to control OWI Robotic Arm... no strings attached
+    (by arkhipenko: http://www.instructables.com/id/Wave-your-hand-to-control-OWI-Robotic-Arm-no-strin/)
+	
+  APIS - Automated Plant Irrigation System
+    (by arkhipenko: http://www.instructables.com/id/APIS-Automated-Plant-Irrigation-System/)
+	
+  Interactive Halloween Pumpkin
+    (by arkhipenko: http://www.instructables.com/id/Interactive-Halloween-Pumpkin/)
+
+
 Changelog:
+=========
 v2.1.0:
     2016-02-01 - support for microsecond resolution
+    2016-02-02 - added Scheduler baseline start time reset method: startNow()
 
 v2.0.1:
     2016-01-02 - bug fix: issue#11 Xtensa compiler (esp8266): Declaration of constructor does not match implementation
diff --git a/examples/Scheduler_example02/Scheduler_example02.ino b/examples/Scheduler_example02/Scheduler_example02.ino
index c76551a..377f9a8 100644
--- a/examples/Scheduler_example02/Scheduler_example02.ino
+++ b/examples/Scheduler_example02/Scheduler_example02.ino
@@ -65,6 +65,8 @@ void setup () {
   Serial.println("Scheduler TEST");
   
    delay(5000);
+   
+   runner.startNow();  // set point-in-time for scheduling start
 }
 
 
diff --git a/examples/Scheduler_example10_Benchmark/Scheduler_example10_Benchmark.ino b/examples/Scheduler_example10_Benchmark/Scheduler_example10_Benchmark.ino
index 05ebd42..4c5b4e0 100644
--- a/examples/Scheduler_example10_Benchmark/Scheduler_example10_Benchmark.ino
+++ b/examples/Scheduler_example10_Benchmark/Scheduler_example10_Benchmark.ino
@@ -10,7 +10,20 @@
  * The test board is Arduino UNO 16MHz processor.

  *

  

- 

+TaskScheduler 2.1.0:

+No modifiers

+Duration=19869

+

+with SLEEP

+Duration=20058

+

+with status request:

+Duration=20058

+

+with time critical:

+Duration=27289

+

+

 TaskScheduler 1.9.0:

 No modifiers

 Duration=15656

@@ -41,10 +54,11 @@ Duration=18423
 

 

 //#define _TASK_TIMECRITICAL     // Enable monitoring scheduling overruns

-#define _TASK_STATUS_REQUEST     // Compile with support for StatusRequest functionality - triggering tasks on status change events in addition to time only

+//#define _TASK_STATUS_REQUEST     // Compile with support for StatusRequest functionality - triggering tasks on status change events in addition to time only

 //#define _TASK_WDT_IDS          // Compile with support for wdt control points and task ids

 //#define _TASK_LTS_POINTER      // Compile with support for local task storage pointer

-#define _TASK_SLEEP_ON_IDLE_RUN

+//#define _TASK_SLEEP_ON_IDLE_RUN

+//#define _TASK_MICRO_RES

 #include <TaskScheduler.h>

 

 Scheduler ts;

diff --git a/examples/Scheduler_example13_Micros/Scheduler_example13_Micros.ino b/examples/Scheduler_example13_Micros/Scheduler_example13_Micros.ino
new file mode 100644
index 0000000..973750d
--- /dev/null
+++ b/examples/Scheduler_example13_Micros/Scheduler_example13_Micros.ino
@@ -0,0 +1,71 @@
+/**
+ * TaskScheduler Test of microsecond scheduling resolution
+ *
+ * Task 1 runs starting with 211 microseconds intervals, doubling the interval on every iteration 
+ * until it wraps when interval reaches about 72 minutes mark
+ * 
+ * Task 2 provides heartbeat at a steady 5 seconds intervals
+ *
+ */
+ 
+#define _TASK_MICRO_RES
+#include <TaskScheduler.h>
+
+#define T1_INIT (211L)
+
+Scheduler runner;
+// Callback methods prototypes
+void t1Callback();
+void t1OnDisable();
+void t2Callback();
+
+
+unsigned long t1_interval = T1_INIT;
+
+// Tasks
+Task t1(t1_interval, 1, &t1Callback, &runner, true, NULL, &t1OnDisable);      //adding task to the chain on creation
+Task t2(5 * TASK_SECOND, TASK_FOREVER, &t2Callback, &runner, true);  //adding task to the chain on creation
+
+
+
+void t1Callback() {
+  unsigned long t = micros();
+  Serial.print("t1: ");
+  Serial.println(t);
+}
+
+void t1OnDisable() {
+  t1_interval += t1_interval; 
+  if (t1_interval < T1_INIT) t1_interval = T1_INIT;
+  t1.setInterval(t1_interval);
+  t1.restartDelayed();
+}
+
+void t2Callback() {
+  unsigned long t = micros();
+  Serial.print("t2: ");
+  Serial.print(t);
+  Serial.println(" heartbeat");
+}
+
+
+void setup () {
+  Serial.begin(115200);
+  Serial.println("Scheduler TEST Microsecond Resolution");
+  
+  Serial.println("5 seconds delay");
+  delay(5000);
+   
+  runner.startNow(); // This creates a new scheduling starting point for all ACTIVE tasks. 
+                      // PLEASE NOTE - THIS METHOD DOES NOT ACTIVATE TASKS, JUST RESETS THE START TIME
+  t1.delay();        // Tasks which need to start delayed, need to be delayed again after startNow();
+
+// Alternatively, tasks should be just enabled at the bottom of setup() method
+//  runner.enableAll();    
+//  t1.delay();
+}
+
+
+void loop () {
+  runner.execute();
+}

diff --git a/extras/TaskScheduler.doc b/extras/TaskScheduler.doc
index e6e4f3e..b2f5380 100644
--- a/extras/TaskScheduler.doc
+++ b/extras/TaskScheduler.doc
diff --git a/extras/TaskScheduler.html b/extras/TaskScheduler.html
index 5c5edc8..a3d31d3 100644
--- a/extras/TaskScheduler.html
+++ b/extras/TaskScheduler.html
@@ -1,107 +1,105 @@
 <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Transitional//EN">
-<HTML>
-<HEAD>
-	<META HTTP-EQUIV="CONTENT-TYPE" CONTENT="text/html; charset=utf-8">
-	<TITLE></TITLE>
-	<META NAME="GENERATOR" CONTENT="LibreOffice 3.5  (Linux)">
-	<META NAME="CREATED" CONTENT="20150206;16300000">
-	<META NAME="CHANGEDBY" CONTENT="Anatoli Arkhipenko">
-	<META NAME="CHANGED" CONTENT="20151223;16480000">
-	<META NAME="Info 1" CONTENT="">
-	<META NAME="Info 2" CONTENT="">
-	<META NAME="Info 3" CONTENT="">
-	<META NAME="Info 4" CONTENT="">
-	<STYLE TYPE="text/css">
+<html>
+<head>
+	<meta http-equiv="content-type" content="text/html; charset=utf-8">
+	<title></title>
+	<meta name="generator" content="LibreOffice 4.2.8.2 (Linux)">
+	<meta name="created" content="20150206;163000000000000">
+	<meta name="changedby" content="Anatoli Arkhipenko">
+	<meta name="changed" content="20160202;231400000000000">
+	<style type="text/css">
 	<!--
 		@page { margin: 0.79in }
-		P { margin-bottom: 0.08in; direction: ltr; color: #000000; widows: 0; orphans: 0 }
-		P.western { font-family: "Liberation Serif", "MS PMincho", serif; font-size: 12pt; so-language: en-US }
-		P.cjk { font-family: "WenQuanYi Micro Hei", "MS Mincho"; font-size: 12pt; so-language: zh-CN }
-		P.ctl { font-family: "Lohit Hindi", "MS Mincho"; font-size: 12pt; so-language: hi-IN }
-		A:link { color: #0000ff }
+		p { margin-bottom: 0.08in; direction: ltr; color: #000000; widows: 0; orphans: 0 }
+		p.western { font-family: "Liberation Serif", "MS PMincho", serif; font-size: 12pt; so-language: en-US }
+		p.cjk { font-family: "WenQuanYi Micro Hei", "MS Mincho"; font-size: 12pt; so-language: zh-CN }
+		p.ctl { font-family: "Lohit Hindi", "MS Mincho"; font-size: 12pt; so-language: hi-IN }
+		a:link { color: #0000ff }
 	-->
-	</STYLE>
-</HEAD>
-<BODY LANG="en-US" TEXT="#000000" LINK="#0000ff" BGCOLOR="#ffffff" DIR="LTR">
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT SIZE=4 STYLE="font-size: 15pt"><B>Task
-Scheduler</B></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>Cooperative
-multitasking for Arduino microcontrollers</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; border-top: none; border-bottom: 1px solid #000000; border-left: none; border-right: none; padding-top: 0in; padding-bottom: 0.01in; padding-left: 0in; padding-right: 0in">
-<FONT SIZE=2 STYLE="font-size: 11pt"><B>Version 2.0.0: 2015-12-23</B></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>OVERVIEW</B>:</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">A lightweight
+	</style>
+</head>
+<body lang="en-US" text="#000000" link="#0000ff" bgcolor="#ffffff" dir="ltr" style="background: #ffffff">
+<p class="western" style="margin-bottom: 0in"><font size="4" style="font-size: 15pt"><b>Task
+Scheduler</b></font></p>
+<p class="western" style="margin-bottom: 0in"><b>Cooperative
+multitasking for Arduino microcontrollers</b></p>
+<p class="western" style="margin-bottom: 0in; border-top: none; border-bottom: 1px solid #000000; border-left: none; border-right: none; padding-top: 0in; padding-bottom: 0.01in; padding-left: 0in; padding-right: 0in">
+<font size="2" style="font-size: 11pt"><b>Version 2.1.0: 2016-02-02</b></font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>OVERVIEW</b>:</p>
+<p class="western" style="margin-bottom: 0in">A lightweight
 implementation of cooperative multitasking (task scheduling)
-supporting:</P>
-<OL>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Periodic task
-	execution (with dynamic execution period in milliseconds –
-	frequency of execution)</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Number of
-	iterations (limited or infinite number of iterations)</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Execution of tasks
-	in predefined sequence</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Dynamic change of
+supporting:</p>
+<ol>
+	<li><p class="western" style="margin-bottom: 0in">Periodic task
+	execution, with dynamic execution period in <b>milliseconds
+	(</b>default<b>)</b> or <b>microseconds (</b>if explicitly enabled<b>)</b>
+	– frequency of execution</p>
+	<li><p class="western" style="margin-bottom: 0in">Number of
+	iterations (limited or infinite number of iterations)</p>
+	<li><p class="western" style="margin-bottom: 0in">Execution of tasks
+	in predefined sequence</p>
+	<li><p class="western" style="margin-bottom: 0in">Dynamic change of
 	task execution parameters (frequency, number of iterations, callback
-	methods)</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Power saving via
-	entering IDLE sleep mode when tasks are not scheduled to run</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Support for
-	event-driven task invocation via Status Request object</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Support for task
-	IDs and Control Points for error handling and watchdog timer</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Support for Local
+	methods)</p>
+	<li><p class="western" style="margin-bottom: 0in">Power saving via
+	entering IDLE sleep mode when tasks are not scheduled to run</p>
+	<li><p class="western" style="margin-bottom: 0in">Support for
+	event-driven task invocation via Status Request object</p>
+	<li><p class="western" style="margin-bottom: 0in">Support for task
+	IDs and Control Points for error handling and watchdog timer</p>
+	<li><p class="western" style="margin-bottom: 0in">Support for Local
 	Task Storage pointer (allowing use of same callback code for
-	multiple tasks)</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Support for
-	layered task prioritization</P>
-</OL>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Scheduling overhead:
-between 15 and 18 microseconds per scheduling pass.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>TASK</B>:</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">“Task” is a
-container concept that links together:</P>
-<OL>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Program code
-	performing specific task activities (callback methods)</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Execution interval</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Number of
-	execution iterations</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">(Optionally)
-	Execution event (Status Request)</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">(Optionally)
-	Pointer to a Local Task Storage area</P>
-</OL>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>Tasks</B> perform
+	multiple tasks)</p>
+	<li><p class="western" style="margin-bottom: 0in">Support for
+	layered task prioritization</p>
+</ol>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Scheduling overhead:
+between 15 and 18 microseconds per scheduling pass (Arduino UNO rev 3
+@ 16MHz clock, single scheduler w/o prioritization)</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>TASK</b>:</p>
+<p class="western" style="margin-bottom: 0in">“Task” is a
+container concept that links together:</p>
+<ol>
+	<li><p class="western" style="margin-bottom: 0in">Program code
+	performing specific task activities (callback methods)</p>
+	<li><p class="western" style="margin-bottom: 0in">Execution interval</p>
+	<li><p class="western" style="margin-bottom: 0in">Number of
+	execution iterations</p>
+	<li><p class="western" style="margin-bottom: 0in">(Optionally)
+	Execution event (Status Request)</p>
+	<li><p class="western" style="margin-bottom: 0in">(Optionally)
+	Pointer to a Local Task Storage area</p>
+</ol>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>Tasks</b> perform
 certain functions, which could require periodic or one-time
 execution, update of specific variables, or waiting for specific
 events. Tasks also could be controlling specific hardware, or
 triggered by hardware interrupts. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">For execution purposes
-<B>Tasks</B> are linked into execution <B>chains</B>, which are
-processed by the <B>Scheduler</B> in the order they were added
-(linked together).</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>Starting with
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">For execution purposes
+<b>Tasks</b> are linked into execution <b>chains</b>, which are
+processed by the <b>Scheduler</b> in the order they were added
+(linked together).</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>Starting with
 version 2.0.0 TaskScheduler supports task prioritization. Please
 refer to the specific chapter of this manual for details on layered
-prioritization. </B>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Each task performs its
+prioritization. </b>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Each task performs its
 function via a callback method. Scheduler calls Task’s callback
 method periodically until task is disabled or runs out of iterations.
 In addition to “regular” callback method, two additional methods
@@ -111,43 +109,43 @@ is disabled. Those two special methods allow tasks to properly
 initiate themselves for execution, and clean-up after execution is
 over (E.g., setup pin modes on enable, and always bring pin level to
 LOW at the end). 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Tasks are responsible
-for supporting <B>cooperative</B> <B>multitasking</B> by being “good
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Tasks are responsible
+for supporting <b>cooperative</b> <b>multitasking</b> by being “good
 neighbors”, i.e., running their callback methods quickly in a
 non-blocking way, and releasing control back to scheduler as soon as
 possible. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>Scheduler</B> is
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>Scheduler</b> is
 executing Tasks' callback methods in the order the tasks were added
 to the chain, from first to last. Scheduler stops and exists after
 processing the chain once in order to allow other statements in the
-main code of <B>loop()</B> method to run.  This is referred to as a
-<B>“scheduling pass”.</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in">(Normally, there is no
-need to have any other statements in the <B>loop</B>() method other
-than the Scheduler's <B>execute</B>() method).</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>Below is the flowchart of a Task lifecycle:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><IMG SRC="TaskScheduler_html.png" NAME="graphics1" ALIGN=BOTTOM WIDTH=664 HEIGHT=517 BORDER=0></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>TaskScheduler</B>
+main code of <b>loop()</b> method to run.  This is referred to as a
+<b>“scheduling pass”.</b></p>
+<p class="western" style="margin-bottom: 0in">(Normally, there is no
+need to have any other statements in the <b>loop</b>() method other
+than the Scheduler's <b>execute</b>() method).</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>Below is the flowchart of a Task lifecycle:</b></p>
+<p class="western" style="margin-bottom: 0in"><img src="data:image/png;base64,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" name="Image1" align="bottom" width="664" height="517" border="0"></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>TaskScheduler</b>
 library maybe compiled with different compilation controls
 enabled/disabled. This is a way to limit TaskScheduler functionality
 (and size) for specific purpose (sketch). This is achieved by
-defining specific #<B>define</B> parameters <I>before</I>
-TaskScheduler.h header file. Specifically:</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">If compiled with
-<FONT FACE="Courier New, monospace">_TASK_SLEEP_ON_IDLE_RUN</FONT>
+defining specific #<b>define</b> parameters <i>before</i>
+TaskScheduler.h header file. Specifically:</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">If compiled with
+<font face="Courier New, monospace">_TASK_SLEEP_ON_IDLE_RUN</font>
 enabled, the scheduler will place processor into IDLE sleep mode (for
 approximately 1 ms, as the timer interrupt will wake it up), after
 what is determined to be an “idle” pass. An Idle Pass is a pass
@@ -156,109 +154,129 @@ callback methods. This is done to avoid repetitive idle passes
 through the chain when no tasks need to be executed. If any of the
 tasks in the chain always requires immediate execution (aInterval =
 0), then there will be no IDLE sleep between task's callback method
-execution.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: </B>Task
-Scheduler uses <B>millis()</B> to determine if tasks are ready to be
-invoked. Therefore, if you put your device to any “deep” sleep
-mode disabling timer interrupts, the <B>millis()</B> count will be
-suspended, leading to effective suspension of scheduling. Upon wake
-up, active tasks need to be re-enabled, which will effectively reset
-their internal time scheduling variables to the new value of
-<B>millis(). </B>Time spent in deep sleep mode should be considered
-“frozen”, i.e., if a task was scheduled to run in 1 second from
-now, and device was put to sleep for 5 minutes, upon wake up, the
-task will still be scheduled 1 second from the time of wake up.
-Executing <B>enable() </B>method on this tasks will make it run as
-soon as possible. This is a concern only for tasks which are required
-to run in a truly periodical manner (in absolute time terms). 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">In addition to
-time-only (<B>millis</B>() only)  invocation, tasks can be scheduled
-to wait on an event employing StatusRequest objects (more about
-Status Requests later).</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Consider a scenario
+execution.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>NOTE: </b>Task
+Scheduler uses <b>millis()</b> (or <b>micros()</b>) to determine if
+tasks are ready to be invoked. Therefore, if you put your device to
+any “deep” sleep mode disabling timer interrupts, the
+<b>millis()/micros()</b> count will be suspended, leading to
+effective suspension of scheduling. Upon wake up, active tasks need
+to be re-enabled, which will effectively reset their internal time
+scheduling variables to the new value of <b>millis()/micros(). </b>Time
+spent in deep sleep mode should be considered “frozen”, i.e., if
+a task was scheduled to run in 1 second from now, and device was put
+to sleep for 5 minutes, upon wake up, the task will still be
+scheduled 1 second from the time of wake up. Executing <b>enable()
+</b>method on this tasks will make it run as soon as possible. This
+is a concern only for tasks which are required to run in a truly
+periodical manner (in absolute time terms). 
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">In addition to
+time-only (<b>millis()/micros</b>() only)  invocation, tasks can be
+scheduled to wait on an event employing StatusRequest objects (more
+about Status Requests later).</p>
+<p class="western" style="margin-bottom: 0in">Consider a scenario
 when one task (t1) is performing a function which affects execution
 of many tasks (t2, t3). In this case the task t1 will “signal”
 completion of its function via Status Request object. Tasks t2 and t3
 are “waiting” on the same Status Request object. As soon as
-status request completes, t2 and t3 are activated.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Alternative scenario is
+status request completes, t2 and t3 are activated.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Alternative scenario is
 the ne task (t1) and waiting for the completion of a number of tasks
 (t2, t3). When done, t2 and t3 signal completion of their functions,
 t1 is invoked. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Please see the code
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Please see the code
 examples at the end of this document, and included with the library
-package for details.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>COMPILE PARAMETERS:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in">This library could be
-compiled in several configurations.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Parameters (<B>#define</B>s)
+package for details.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>COMPILE PARAMETERS:</b></p>
+<p class="western" style="margin-bottom: 0in">This library could be
+compiled in several configurations.</p>
+<p class="western" style="margin-bottom: 0in">Parameters (<b>#define</b>s)
 defining what functionality should or should not be included need be
-defined before the library header file in the body of arduino sketch.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">#define
-<B>_TASK_TIMECRITICAL</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in">...will compile the
-library with time critical tracking option enabled.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Time critical option
+defined before the library header file in the body of Arduino sketch.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">#define <b>_TASK_MICRO_RES</b></p>
+<p class="western" style="margin-bottom: 0in">...will compile the
+library with microsecond scheduling resolution, instead of default
+millisecond resolution.</p>
+<p class="western" style="margin-bottom: 0in">All time parameters for
+execution interval, delay, etc. will be treated as <b>microseconds</b>,
+instead of milliseconds. 
+</p>
+<p class="western" style="margin-bottom: 0in"><b>NOTE: </b>Sleep mode
+<b>SLEEP_MODE_IDLE</b> (see below) is automatically <b>disabled</b>
+for microsecond resolution. Time constants <b>TASK_SECOND,
+TASK_MINUTE</b> and <b>TASK_HOUR</b> are adjusted for microsecond
+duration. 
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">#define
+<b>_TASK_TIMECRITICAL</b></p>
+<p class="western" style="margin-bottom: 0in">...will compile the
+library with time critical tracking option enabled.</p>
+<p class="western" style="margin-bottom: 0in">Time critical option
 keeps track when current execution took place relative to when it was
 scheduled, and where next execution time of the task falls. Two
 methods provide this information. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>Task::getStartDelay()
-</B>method: return number of milliseconds between current system time
-(millis) and point in time when the task was scheduled to start. A
-value of 0 (zero) indicates that task started right on time per
-schedule. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>Task::getOverrun()</B>
-method: If <B>getOverrun </B>returns a negative value, this Task’s
-next execution time point is <I>already</I> in the past, and task is
+</p>
+<p class="western" style="margin-bottom: 0in"><b>Task::getStartDelay()
+</b>method: return number of milliseconds (or microseconds) between
+current system time (millis/micros) and point in time when the task
+was scheduled to start. A value of 0 (zero) indicates that task
+started right on time per schedule. 
+</p>
+<p class="western" style="margin-bottom: 0in"><b>Task::getOverrun()</b>
+method: If <b>getOverrun </b>returns a negative value, this Task’s
+next execution time point is <i>already</i> in the past, and task is
 behind schedule. This most probably means that either task’s
 callback method's runtime is too long, or the execution interval is
-too short (and therefore schedule is too aggressive).</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">A positive value
+too short (and therefore schedule is too aggressive).</p>
+<p class="western" style="margin-bottom: 0in">A positive value
 indicates that task is on schedule, and callback methods have enough
 time to finish before the next scheduled pass. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">#define
-<B>_TASK_SLEEP_ON_IDLE_RUN</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in">...will compile the
-library with the <B>sleep</B> option enabled (AVR boards only).</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">When enabled, scheduler
-will put the microcontroller into <B>SLEEP_MODE_IDLE</B> state if
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">#define
+<b>_TASK_SLEEP_ON_IDLE_RUN</b></p>
+<p class="western" style="margin-bottom: 0in">...will compile the
+library with the <b>sleep</b> option enabled (AVR boards only).</p>
+<p class="western" style="margin-bottom: 0in">When enabled, scheduler
+will put the microcontroller into <b>SLEEP_MODE_IDLE</b> state if
 none of the tasks’ callback methods were activated during execution
-pass. <B>IDLE</B> state is interrupted by timers once every 1 ms.
+pass. <b>IDLE</b> state is interrupted by timers once every 1 ms.
 Putting microcontroller to IDLE state helps conserve power.  Device
 in SLEEP_MODE_IDLE wakes up to all hardware and timer interrupts, so
-scheduling is kept current.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-#define <B>_TASK_STATUS_REQUEST</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in">…will compile
+scheduling is kept current.</p>
+<p class="western" style="margin-bottom: 0in"><b>NOTE: </b>This
+compilation option is not available with the microsecond resolution
+option.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+#define <b>_TASK_STATUS_REQUEST</b></p>
+<p class="western" style="margin-bottom: 0in">…will compile
 TaskScheduler with support for StatusRequest object. Status Requests
 are objects allowing tasks to wait on an event, and signal event
 completion to each other. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">#define <B>_TASK_WDT_IDS</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in">…will compile
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">#define <b>_TASK_WDT_IDS</b></p>
+<p class="western" style="margin-bottom: 0in">…will compile
 TaskScheduler with support for Task IDs and Control Points. Each task
 can be (and is by default) assigned an ID, which could be used to
 identify the task in case there is a problem with it. Furthermore
@@ -268,44 +286,44 @@ deal with external resources (sensors, serial communications,
 anything hardware dependent) can be blocked (or hung), by failed
 hardware. In this case, a watchdog timer could be employed to trap
 such a failed task, and identify which one (by task id) and where in
-the task (by a control point) the problem is likely located.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: </B>by
+the task (by a control point) the problem is likely located.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>NOTE: </b>by
 default, talk IDs are assigned sequentially (1, 2, 3, …) to the
 tasks as they are being created. Programmer can assign a specific
-task id. <B>Task ids are unsigned integers.</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Control points provide
+task id. <b>Task ids are unsigned integers.</b></p>
+<p class="western" style="margin-bottom: 0in">Control points provide
 a way to identify potential problem points within a task. Control
-points are <B>unsigned integers </B>as well. Please note that there
+points are <b>unsigned integers </b>as well. Please note that there
 is only one control point per task, and it is set to zero when the
 task’s callback method is invoked (this is done to prevent “stray”
-control point from previous task(s) confusing the matters.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Example #7 contains a
+control point from previous task(s) confusing the matters.</p>
+<p class="western" style="margin-bottom: 0in">Example #7 contains a
 test of task ID and control points functionality.  
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">#define
-<B>_TASK_LTS_POINTER</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in">…will compile
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">#define
+<b>_TASK_LTS_POINTER</b></p>
+<p class="western" style="margin-bottom: 0in">…will compile
 TaskScheduler with support for Local Task Storage pointer (LTS). LTS
 is a generic (void*) pointer which could be set to reference a
 variable or a structure specific to a particular task. A callback
 method can get access to specific variables by getting reference to a
 currently running task from the scheduler, and then casting (void*)
 LTS pointer to the appropriate pointer type. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: </B>above
-parameters are<B> DISABLED </B>by default, and need to be explicitly
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>NOTE: </b>above
+parameters are<b> DISABLED </b>by default, and need to be explicitly
 enabled by placing appropriate #define statements in front of the
-#include statement for the TaskScheduler header file.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">#define <B>_TASK_PRIORITY</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in">…will compile
+#include statement for the TaskScheduler header file.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">#define <b>_TASK_PRIORITY</b></p>
+<p class="western" style="margin-bottom: 0in">…will compile
 TaskScheduler with support for layered task prioritization. Task
 prioritization is achieved by creating several schedulers, and
 organizing them in priority layers. Tasks are assigned to schedulers
@@ -314,739 +332,739 @@ layers are evaluated for invocation more frequently, and are given
 priority in execution in case of the scheduling coincidence. More
 about layered prioritization in the API documentation and
 TaskScheduler examples.  
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>TASK PRIORITY AND
-COOPERATIVE MULTITASKING:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Starting with version
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>TASK PRIORITY AND
+COOPERATIVE MULTITASKING:</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Starting with version
 2.0.0 TaskScheduler supports task prioritization. Priority is
-associated with a <B>Scheduler</B>, not individual <B>Tasks</B>,
+associated with a <b>Scheduler</b>, not individual <b>Tasks</b>,
 hence the concept of priority layers. Tasks subsequently are assigned
 to schedulers corresponding to their desired priority. The lowest
-priority Scheduler is called “<B>base scheduler</B>” or “<B>base
-layer</B>”. Let’s call higher priority schedulers by their
+priority Scheduler is called “<b>base scheduler</b>” or “<b>base
+layer</b>”. Let’s call higher priority schedulers by their
 priority number, with larger number corresponding to higher priority
 of task execution. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Task prioritization is
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Task prioritization is
 achieved by executing the entire chain of tasks of the higher
 priority scheduler for every single step (task) of the lower priority
-chain. <B>Note</B> that actual callback method invocation depends on
-priority <B>and </B>the timing of task schedule. However, higher
+chain. <b>Note</b> that actual callback method invocation depends on
+priority <b>and </b>the timing of task schedule. However, higher
 priority tasks are evaluated more frequently and are given priority
 in case of scheduling collision. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">For most tasks
-TaskScheduler <B>does not need </B>task priority functionality.
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">For most tasks
+TaskScheduler <b>does not need </b>task priority functionality.
 Prioritization requires additional scheduling overhead, and should be
-used only for critical tasks.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">A few points on that:</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">1. Plain (non-layered)
+used only for critical tasks.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">A few points on that:</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">1. Plain (non-layered)
 execution chain is simple and efficient. The main idea is to minimize
 scheduling overhead by Scheduler going through the chain. Each
 priority layer adds scheduling overhead to overall task chain
-execution. Let’s review 3 scenarios:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>I.
-Flat chain of 7 tasks:</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Scheduling
-evaluation sequence:</P>
-<P CLASS="western" ALIGN=CENTER STYLE="margin-left: 0.49in; margin-bottom: 0in">
-1 <FONT FACE="Wingdings"></FONT> 2 <FONT FACE="Wingdings"></FONT>
-3 <FONT FACE="Wingdings"></FONT> 4 <FONT FACE="Wingdings"></FONT>
-5 <FONT FACE="Wingdings"></FONT> 6 <FONT FACE="Wingdings"></FONT>
-7</P>
-<P CLASS="western" ALIGN=CENTER STYLE="margin-left: 0.49in; margin-bottom: 0in">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Scheduling
-overhead:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">O
-= B * T = 7 * 18 = 126 microseconds,</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Where:</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">O
-– scheduling overhead</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">B
-– number of tasks in the base layer</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">T
+execution. Let’s review 3 scenarios:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>I.
+Flat chain of 7 tasks:</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Scheduling
+evaluation sequence:</p>
+<p class="western" align="center" style="margin-left: 0.49in; margin-bottom: 0in">
+1 <font face="Wingdings"></font> 2 <font face="Wingdings"></font>
+3 <font face="Wingdings"></font> 4 <font face="Wingdings"></font>
+5 <font face="Wingdings"></font> 6 <font face="Wingdings"></font>
+7</p>
+<p class="western" align="center" style="margin-left: 0.49in; margin-bottom: 0in">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Scheduling
+overhead:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">O
+= B * T = 7 * 18 = 126 microseconds,</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Where:</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">O
+– scheduling overhead</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">B
+– number of tasks in the base layer</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">T
 – scheduling overhead of a single task execution evaluation
 (currently with Arduino Uno running at 16 Mhz is between 15 and 18
-microseconds).</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>II.
-Two priority layers of 7 tasks. </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>	</B>Tasks
-1, 2, 3, 4, 5 are base priority and 6, 7 are higher priority:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Scheduling
-evaluation sequence:</P>
-<P CLASS="western" ALIGN=CENTER STYLE="margin-left: 0.49in; margin-bottom: 0in">
-6 <FONT FACE="Wingdings"></FONT> 7 <FONT FACE="Wingdings"></FONT>
-1 <FONT FACE="Wingdings"></FONT> 6 <FONT FACE="Wingdings"></FONT>
-7 <FONT FACE="Wingdings"></FONT> 2 <FONT FACE="Wingdings"></FONT>
-6 <FONT FACE="Wingdings"></FONT> 7 <FONT FACE="Wingdings"></FONT>
-3 <FONT FACE="Wingdings"></FONT> 6 <FONT FACE="Wingdings"></FONT>
-7 <FONT FACE="Wingdings"></FONT> 4 <FONT FACE="Wingdings"></FONT>
-6 <FONT FACE="Wingdings"></FONT> 7 <FONT FACE="Wingdings"></FONT>
-5</P>
-<P CLASS="western" ALIGN=CENTER STYLE="margin-left: 0.49in; margin-bottom: 0in">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Scheduling
-overhead:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">O
-= (B + B * P1) * T = (5 + 5 * 2) * 18 = 270 microseconds,</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Where:</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">O
-– scheduling overhead</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">B
-– number of tasks in the base layer</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">P1
-– number of tasks in the priority 1 layer</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">T
+microseconds).</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>II.
+Two priority layers of 7 tasks. </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>	</b>Tasks
+1, 2, 3, 4, 5 are base priority and 6, 7 are higher priority:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Scheduling
+evaluation sequence:</p>
+<p class="western" align="center" style="margin-left: 0.49in; margin-bottom: 0in">
+6 <font face="Wingdings"></font> 7 <font face="Wingdings"></font>
+1 <font face="Wingdings"></font> 6 <font face="Wingdings"></font>
+7 <font face="Wingdings"></font> 2 <font face="Wingdings"></font>
+6 <font face="Wingdings"></font> 7 <font face="Wingdings"></font>
+3 <font face="Wingdings"></font> 6 <font face="Wingdings"></font>
+7 <font face="Wingdings"></font> 4 <font face="Wingdings"></font>
+6 <font face="Wingdings"></font> 7 <font face="Wingdings"></font>
+5</p>
+<p class="western" align="center" style="margin-left: 0.49in; margin-bottom: 0in">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Scheduling
+overhead:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">O
+= (B + B * P1) * T = (5 + 5 * 2) * 18 = 270 microseconds,</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Where:</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">O
+– scheduling overhead</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">B
+– number of tasks in the base layer</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">P1
+– number of tasks in the priority 1 layer</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">T
 – scheduling overhead of a single task execution evaluation
 (currently with Arduino Uno running at 16 Mhz is between 15 and 18
-microseconds).</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>III.
-Three priority layers of 7 tasks. </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>	</B>Tasks
+microseconds).</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>III.
+Three priority layers of 7 tasks. </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>	</b>Tasks
 1, 2, 3, are base priority, 4, 5 are priority 1, and 6, 7 are
-priority 2:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Scheduling
-evaluation sequence:</P>
-<P CLASS="western" ALIGN=CENTER STYLE="margin-left: 0.49in; margin-bottom: 0in">
-6 <FONT FACE="Wingdings"></FONT> 7 <FONT FACE="Wingdings"></FONT>
-4 <FONT FACE="Wingdings"></FONT> 6 <FONT FACE="Wingdings"></FONT>
-7 <FONT FACE="Wingdings"></FONT> 5 <FONT FACE="Wingdings"></FONT>
-1 <FONT FACE="Wingdings"></FONT> 6 <FONT FACE="Wingdings"></FONT>
-7 <FONT FACE="Wingdings"></FONT> 4 <FONT FACE="Wingdings"></FONT>
-6 <FONT FACE="Wingdings"></FONT> 7 <FONT FACE="Wingdings"></FONT>
-5 <FONT FACE="Wingdings"></FONT> 2 <FONT FACE="Wingdings"></FONT>6
-<FONT FACE="Wingdings"></FONT> 7 <FONT FACE="Wingdings"></FONT>
-4 <FONT FACE="Wingdings"></FONT> 6 <FONT FACE="Wingdings"></FONT>
-7 <FONT FACE="Wingdings"></FONT> 5 <FONT FACE="Wingdings"></FONT>
+priority 2:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Scheduling
+evaluation sequence:</p>
+<p class="western" align="center" style="margin-left: 0.49in; margin-bottom: 0in">
+6 <font face="Wingdings"></font> 7 <font face="Wingdings"></font>
+4 <font face="Wingdings"></font> 6 <font face="Wingdings"></font>
+7 <font face="Wingdings"></font> 5 <font face="Wingdings"></font>
+1 <font face="Wingdings"></font> 6 <font face="Wingdings"></font>
+7 <font face="Wingdings"></font> 4 <font face="Wingdings"></font>
+6 <font face="Wingdings"></font> 7 <font face="Wingdings"></font>
+5 <font face="Wingdings"></font> 2 <font face="Wingdings"></font>6
+<font face="Wingdings"></font> 7 <font face="Wingdings"></font>
+4 <font face="Wingdings"></font> 6 <font face="Wingdings"></font>
+7 <font face="Wingdings"></font> 5 <font face="Wingdings"></font>
 3 
-</P>
-<P CLASS="western" ALIGN=CENTER STYLE="margin-left: 0.49in; margin-bottom: 0in">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Scheduling
-overhead:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">O
+</p>
+<p class="western" align="center" style="margin-left: 0.49in; margin-bottom: 0in">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Scheduling
+overhead:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">O
 = (B + B * P1 + B * P1 * P2) * T = (3 + 3 * 2 + 3 * 2 * 2) * 18 = 378
-microseconds,</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Where:</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">O
-– scheduling overhead</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">B
-– number of tasks in the base layer</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">P1
-– number of tasks in the priority 1 layer</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">P2
-– number of tasks in the priority 2 layer</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">T
+microseconds,</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Where:</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">O
+– scheduling overhead</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">B
+– number of tasks in the base layer</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">P1
+– number of tasks in the priority 1 layer</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">P2
+– number of tasks in the priority 2 layer</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">T
 – scheduling overhead of a single task execution evaluation
 (currently with Arduino Uno running at 16 Mhz is between 15 and 18
-microseconds).</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Scheduling overhead of
+microseconds).</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Scheduling overhead of
 a 3 layer prioritization approach is 3 times higher than that of a
-flat execution chain. <B>Do</B> evaluate if task prioritization is
-really required for your sketch.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">2. TaskScheduler is <B>NOT</B>
+flat execution chain. <b>Do</b> evaluate if task prioritization is
+really required for your sketch.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">2. TaskScheduler is <b>NOT</b>
 a pre-emptive multi-tasking library. Nor is it a Real-Time OS. There
 is no way to break execution of one task in favor of another.
 Therefore callback methods require careful programming for
-cooperative behavior.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">This has, however,
+cooperative behavior.</p>
+<p class="western" style="margin-bottom: 0in">This has, however,
 significant benefits: you don't need to worry about concurrency
 inside the callback method, since only one callback method runs at a
 time, and could not be interrupted. All resources are yours for that
 period of time, no one can switch the value of variables (except
 interrupt functions of course...), etc. It is a stable and
 predictable environment, and it helps a lot with writing stable code.
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">A number of things
-could be done instead of priorities:</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">1. Schedule your
-critical tasks to run more frequently than the other tasks</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">. <BR>(Since you can
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">A number of things
+could be done instead of priorities:</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">1. Schedule your
+critical tasks to run more frequently than the other tasks</p>
+<p class="western" style="margin-bottom: 0in">. <br>(Since you can
 control the interval, you could also change the task to run more or
-less frequently as the situation demands).</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">2. If one particular
+less frequently as the situation demands).</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">2. If one particular
 callback routine is critical, create a couple of tasks referring to
-the same callback and &quot;sprinkle&quot; them around the chain:</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Scheduler
-ts;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
-t1(20, TASK_FOREVER, &amp;callback1, &amp;ts);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
-t2(1000, TASK_FOREVER, &amp;callback2, &amp;ts);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
-t3(20, TASK_FOREVER, &amp;callback1, &amp;ts);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
-t4(1000, TASK_FOREVER, &amp;callback4, &amp;ts);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">    <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t3.delay(10);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Note that t1 and t3
+the same callback and &quot;sprinkle&quot; them around the chain:</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">    <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">Scheduler
+ts;</font></font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">    <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">Task
+t1(20, TASK_FOREVER, &amp;callback1, &amp;ts);</font></font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">    <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">Task
+t2(1000, TASK_FOREVER, &amp;callback2, &amp;ts);</font></font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">    <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">Task
+t3(20, TASK_FOREVER, &amp;callback1, &amp;ts);</font></font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">    <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">Task
+t4(1000, TASK_FOREVER, &amp;callback4, &amp;ts);</font></font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">    <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t3.delay(10);</font></font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Note that t1 and t3
 call the same callback method, and are shifted in time by 10 millis.
 So effectively callback1 will be called every 10 millis, but would be
 &quot;sandwiched&quot; between t2 and t4. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">3. Use short efficient
-callback methods written for cooperative multitasking.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">What that means is:</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">a)
-<B>DO NOT</B> use Arduino's  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt"><B>delay</B></FONT></FONT><FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">()</FONT></FONT><FONT FACE="Andale Mono, MS Mincho">
-</FONT>function. It is blocking and will hold the entire chain.
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">3. Use short efficient
+callback methods written for cooperative multitasking.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">What that means is:</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">a)
+<b>DO NOT</b> use Arduino's  <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt"><b>delay</b></font></font><font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">()</font></font><font face="Andale Mono, MS Mincho">
+</font>function. It is blocking and will hold the entire chain.
 Instead break the callback method into two, switch the callback
 method of the task where delay is necessary and delay the task by
 that number of millis. You get your delay, and other tasks get a
-chance to run:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">instead
-of:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-stuff</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">delay(1000);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-more stuff</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
+chance to run:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">instead
+of:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+  <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+stuff</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+  <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">delay(1000);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+  <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+more stuff</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
   
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">do
-this:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback1() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-stuff</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback2);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.delay(1000);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback2() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-more stuff</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-  <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback1);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">b)
-Same goes to <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt"><B>pulseIn</B></FONT></FONT><FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">()</FONT></FONT>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">do
+this:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback1() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+  <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+stuff</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+  <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.setCallback(&amp;callback2);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+  <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.delay(1000);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback2() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+  <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+more stuff</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+  <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.setCallback(&amp;callback1);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">b)
+Same goes to <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt"><b>pulseIn</b></font></font><font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">()</font></font>
 function. If you have to use it, set the timeout parameter such that
 it is not a default 1 second. PulseIn functionality could be achieved
-via pin interrupts, and that solution is non-blocking.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">c)
+via pin interrupts, and that solution is non-blocking.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">c)
 Do don run long loops (for or do/while) in you callback methods. Make
-the main arduino loop be the loop driver for you:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">instead
-of:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
+the main arduino loop be the loop driver for you:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">instead
+of:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
  
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">for(int
-i=0; i&lt;1000; i++) {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-     <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-stuff // one loop action</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">do
-this:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
-t1(TASK_IMMEDIATE, 1000, &amp;callback);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">for(int
+i=0; i&lt;1000; i++) {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+     <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+stuff // one loop action</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">do
+this:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">Task
+t1(TASK_IMMEDIATE, 1000, &amp;callback);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
   
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">int
-i = t1.getRunCounter() -1;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-stuff // one loop action</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">or
-this:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
-t1(TASK_IMMEDIATE, 1000, &amp;callback, true, &amp;t1On);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">int
+i = t1.getRunCounter() -1;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+stuff // one loop action</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">or
+this:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">Task
+t1(TASK_IMMEDIATE, 1000, &amp;callback, true, &amp;t1On);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
  
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">int
-i;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">bool
-t1On() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">i
-= 0;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">return
-true;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">int
+i;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">bool
+t1On() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">i
+= 0;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">return
+true;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
  
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-stuff // one loop action</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">i++;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" ALIGN=CENTER STYLE="margin-left: 0.49in; margin-bottom: 0in">
-<B>REMEMBER: you are already inside the loop - take advantage of it. </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">d)
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+stuff // one loop action</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">i++;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" align="center" style="margin-left: 0.49in; margin-bottom: 0in">
+<b>REMEMBER: you are already inside the loop - take advantage of it. </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">d)
 Break long running callback methods into several shorter ones, and
-pass control from one to the other via <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt"><B>setCallback</B></FONT></FONT><FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">()
-</FONT></FONT>method:</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
-t1(TASK_IMMEDIATE, TASK_FAREVER, &amp;callback);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
+pass control from one to the other via <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt"><b>setCallback</b></font></font><font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">()
+</font></font>method:</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">Task
+t1(TASK_IMMEDIATE, TASK_FAREVER, &amp;callback);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
  
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-do some stuff</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step2);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback_step2() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-do more stuff</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step3);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback_step3() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-do last part of the stuff</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.delay(1000);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">This
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+do some stuff</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.setCallback(&amp;callback_step2);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback_step2() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+do more stuff</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.setCallback(&amp;callback_step3);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback_step3() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+do last part of the stuff</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.setCallback(&amp;callback);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.delay(1000);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">This
 will execute all parts of the callback function in three successive
 steps, scheduled immediately, but allowing other tasks in the chain
 to run. Notice that task is scheduled to run immediately, and 1
 second period is achieved by delaying the task for 1000 millis at the
 last step. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Alternatively
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Alternatively
 you could schedule the task to run every 1000 millis and use
-<FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">forceNextIteration()</FONT></FONT>
-method in steps 1 and 2 (but not 3!)</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">Task
-t1(1000, TASK_FOREVER, &amp;callback);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
+<font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">forceNextIteration()</font></font>
+method in steps 1 and 2 (but not 3!)</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">Task
+t1(1000, TASK_FOREVER, &amp;callback);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
  
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-do some stuff</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step2);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.forceNextIteration();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback_step2() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-do more stuff</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback_step3);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.forceNextIteration();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">void
-callback_step3() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">...
-do last part of the stuff</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-   <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">t1.setCallback(&amp;callback);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt">}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">e)
-Compile the library with <FONT FACE="FreeMono, MS Mincho, monospace"><FONT SIZE=2 STYLE="font-size: 10pt"><B>_TASK_TIMECRITICAL</B></FONT></FONT>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+do some stuff</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.setCallback(&amp;callback_step2);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.forceNextIteration();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback_step2() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+do more stuff</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.setCallback(&amp;callback_step3);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.forceNextIteration();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">void
+callback_step3() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">...
+do last part of the stuff</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+   <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">t1.setCallback(&amp;callback);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">e)
+Compile the library with <font face="FreeMono, MS Mincho, monospace"><font size="2" style="font-size: 10pt"><b>_TASK_TIMECRITICAL</b></font></font>
 enabled and check if your tasks are falling behind schedule. If they
 are - you need to optimize your code further (or maybe re-evaluate
 your schedule). If they are not - all is well and you don't need to
@@ -1056,2080 +1074,2131 @@ gyroscope and accelerometer every 10 ms. The idea was to flash
 onboard LED if any of the tasks fall behind. At 10 ms interval for
 the gyro the LED does not flash, which means none of the tasks are
 blocking the others from starting on time. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<FONT SIZE=4><B>API DOCUMENTATION:</B></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<FONT SIZE=4><B>TASKS:</B></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">CREATION:</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>Task();</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Default
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<font size="4" style="font-size: 14pt"><b>API DOCUMENTATION:</b></font></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<font size="4" style="font-size: 14pt"><b>TASKS:</b></font></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in">CREATION:</p>
+<p class="western" style="margin-bottom: 0in"><b>Task();</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Default
 constructor. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Takes
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Takes
 no parameters and creates a task that could be scheduled to run at
 every scheduling pass indefinitely, but does not have a callback
 method defined, so no code execution will actually take place. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">All
-tasks are created <B>disabled</B> by default.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>Task(unsigned long aInterval, long aIterations, void
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">All
+tasks are created <b>disabled</b> by default.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>Task(unsigned long aInterval, long aIterations, void
 (*aCallback)(), Scheduler* aScheduler, bool aEnable, bool
-(*aOnEnable)(), void (*aOnDisable)())</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Constructor
+(*aOnEnable)(), void (*aOnDisable)())</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Constructor
 with parameters. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Creates
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Creates
 a task that is scheduled to run every &lt;aInterval&gt; milliseconds,
 &lt;aIterations&gt; times, executing &lt;aCallback&gt; method on
 every pass. 
-</P>
-<OL>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aInterval is in
-	milliseconds (<B>default = 0)</B></P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aIteration in
-	number of times, -1 for indefinite execution (<B>default = -1)</B><BR><B>Note:
-	</B>Tasks do not remember the number of iteration set initially.
+</p>
+<ol>
+	<li><p class="western" style="margin-bottom: 0in">aInterval is in
+	milliseconds (or microseconds) (<b>default = 0)</b></p>
+	<li><p class="western" style="margin-bottom: 0in">aIteration in
+	number of times, -1 for indefinite execution (<b>default = -1)</b><br><b>Note:
+	</b>Tasks do not remember the number of iteration set initially.
 	After the iterations are done, internal iteration counter is 0. If
 	you need to perform another set of iterations, you need to set the
-	number of iterations again. <BR><B>Note: </B>Tasks which performed
+	number of iterations again. <br><b>Note: </b>Tasks which performed
 	all their iterations remain active. 
-	</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aCallback is a
-	pointer to a void callback method without parameters (<B>default =
-	NULL)</B></P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aScheduler –
-	<B>optional</B> reference to existing scheduler. If supplied (not
+	</p>
+	<li><p class="western" style="margin-bottom: 0in">aCallback is a
+	pointer to a void callback method without parameters (<b>default =
+	NULL)</b></p>
+	<li><p class="western" style="margin-bottom: 0in">aScheduler –
+	<b>optional</b> reference to existing scheduler. If supplied (not
 	NULL) this task will be appended to the task chain of the current
-	scheduler). (<B>default = NULL)</B></P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aEnable –
-	<B>optional</B>. Value of <B>true </B>will create task enabled.
-	(<B>default = false)</B></P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnEnable is a
+	scheduler). (<b>default = NULL)</b></p>
+	<li><p class="western" style="margin-bottom: 0in">aEnable –
+	<b>optional</b>. Value of <b>true </b>will create task enabled.
+	(<b>default = false)</b></p>
+	<li><p class="western" style="margin-bottom: 0in">aOnEnable is a
 	pointer to a bool callback method without parameters, invoked when
-	task is enabled. If OnEnable method returns <B>true</B>, task is
-	enabled. If <B>OnEnable</B> method return <B>false</B>, task remains
-	disabled (<B>default = NULL)</B></P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">aOnDisable is a
+	task is enabled. If OnEnable method returns <b>true</b>, task is
+	enabled. If <b>OnEnable</b> method return <b>false</b>, task remains
+	disabled (<b>default = NULL)</b></p>
+	<li><p class="western" style="margin-bottom: 0in">aOnDisable is a
 	pointer to a void callback method without parameters, invoked when
-	task is disabled (<B>default = NULL)</B></P>
-</OL>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">All
-tasks are created <B>disabled</B> by default (unless <B>aEnable</B> =
-true). You have to explicitly enable the task for execution.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
-</B>OnEnable callback method is called immediately when task is
+	task is disabled (<b>default = NULL)</b></p>
+</ol>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">All
+tasks are created <b>disabled</b> by default (unless <b>aEnable</b> =
+true). You have to explicitly enable the task for execution.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>NOTE:
+</b>OnEnable callback method is called immediately when task is
 enabled, which could be well ahead of the scheduled execution time of
 the task. Please bear that in mind – other tasks, hardware, serial
 interface may not even be initialized yet. It is always advisable to
 explicitly enable tasks with OnEnable methods after all
-initialization methods completed (e.g., at the end of <B>setup</B>()
+initialization methods completed (e.g., at the end of <b>setup</b>()
 method) 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enabled
-task is scheduled for execution as soon as the Scheduler's <B>execute</B>()
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Enabled
+task is scheduled for execution as soon as the Scheduler's <b>execute</b>()
 methods gets control. In order to delay first run of the task, use
-<B>enableDelayed</B> or <B>delay</B> method (for enabled tasks)
-method.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>Task(void (*aCallback)(), Scheduler* aScheduler, bool
-(*aOnEnable)(), void (*aOnDisable)())</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
+<b>enableDelayed</b> or <b>delay</b> method (for enabled tasks)
+method.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>Task(void (*aCallback)(), Scheduler* aScheduler, bool
+(*aOnEnable)(), void (*aOnDisable)())</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
 compiled with support for Status Request objects, this constructor
 creates a Task for activation on event (since such tasks must run
-<B>waitFor() </B>method, their <I>interval</I>, <I>iteration</I> and
-<I>enabled</I> status will be set by that method (<I>to 0, 1 and
-false</I> respectively).</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>INFORMATION</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
+<b>waitFor() </b>method, their <i>interval</i>, <i>iteration</i> and
+<i>enabled</i> status will be set by that method (<i>to 0, 1 and
+false</i> respectively).</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>INFORMATION</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">The
 following 3 “getter” methods return task status
 (enabled/disabled), execution interval in milliseconds, number of
-<I><B>remaining</B></I> iterations. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>bool
-isEnabled() </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>unsigned
-long getInterval()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>long
-getIterations() </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>long getStartDelay()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
-library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
+<i><b>remaining</b></i> iterations. 
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>bool
+isEnabled() </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>unsigned
+long getInterval()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>long
+getIterations() </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>long getStartDelay()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
+library is compiled with <font face="Courier New, monospace">_TASK_TIMECRITICAL</font>
 enabled, you can assess how much later the callback method was
 invoked against when it was scheduled to be invoked. The return value
-of  <B>getStartDelay () </B>method provides this information in
-milliseconds. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>long getOverrun()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
-library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
+of  <b>getStartDelay () </b>method provides this information in
+milliseconds (or microseconds). 
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>long getOverrun()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
+library is compiled with <font face="Courier New, monospace">_TASK_TIMECRITICAL</font>
 enabled, tasks are monitored for “long running” scenario. A “long
 running” task is a task that does not finish processing its
 callback methods quickly, and thus creates a situation for itself and
 other tasks where they don't run on a scheduled interval, but rather
 “catch up” and are behind.  When task scheduler sets the next
 execution target time, it adds Task's execution interval to the
-previously scheduled execution time:</P>
-<P CLASS="western" ALIGN=CENTER STYLE="margin-left: 0.49in; margin-bottom: 0in">
-<B>next execution time = current execution scheduled time + task
-execution interval</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
-<B>next execution time</B> happens to be already in the past (<B>next
-execution time</B> &lt; <B>millis()</B>), then task is considered
-<I><B>overrun</B></I>. <B>GetOverrun</B> method returns number of
+previously scheduled execution time:</p>
+<p class="western" align="center" style="margin-left: 0.49in; margin-bottom: 0in">
+<b>next execution time = current execution scheduled time + task
+execution interval</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
+<b>next execution time</b> happens to be already in the past (<b>next
+execution time</b> &lt; <b>millis()</b>), then task is considered
+<i><b>overrun</b></i>. <b>GetOverrun</b> method returns number of
 milliseconds between next execution time and current time. If the
-<B>value is negative</B>, the task has overrun (cut into the) next
+<b>value is negative</b>, the task has overrun (cut into the) next
 execution interval by that many milliseconds. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Positive
-value indicate number of milliseconds of slack this task has for
-execution purposes. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>unsigned long
-getRunCounter()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Positive
+value indicate number of milliseconds (or microseconds) of slack this
+task has for execution purposes. 
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>unsigned long
+getRunCounter()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Returns
 the number of the current run. “Current run” is the number of
 times a callback method has been invoked since the last time a task
-was enabled. <BR><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
-</B>The <B>runCounter</B> value is incremented <I>before</I> callback
-method is invoked. If a task is checking the <B>runCounter</B> value
+was enabled. <br><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>NOTE:
+</b>The <b>runCounter</b> value is incremented <i>before</i> callback
+method is invoked. If a task is checking the <b>runCounter</b> value
 within its callback method, then the first run value is 1. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
-task T1 is checking the <B>runCounter</B> value of another task (T2)
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
+task T1 is checking the <b>runCounter</b> value of another task (T2)
 , then value = 0 indicates that T2 has not been invoked yet, and
 value = 1 indicates that T2 has run once. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>bool
-isFirstIteration()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Indicates
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>bool
+isFirstIteration()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Indicates
 whether current pass is (or will be) a first iteration of the task. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>bool
-isLastIteration()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">For
-tasks with a l<I>imited number of iterations only</I>, indicates
+</p>
+<p class="western" style="margin-bottom: 0in"><b>bool
+isLastIteration()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">For
+tasks with a l<i>imited number of iterations only</i>, indicates
 whether current pass is the last iteration. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>CONTROL:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void enable();</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>CONTROL:</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void enable();</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Enables
 the task, and schedules it for immediate execution (without delay) at
 this or next scheduling pass depending on when the task was enabled.
 Scheduler will execute the next pass without any delay because there
 is a task which was enabled and requires execution. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
-</B>if task being enabled is not assigned to a scheduler and is not
-part of execution chain, then task <B>will not</B> be enabled.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
-</B>enable() invokes task’s <B>OnEnable</B> method (if not NULL)
-<B>immediately</B>, which can prepare task for execution. <B>OnEnable</B>
-must return a value of <B>true</B> for task to be enabled. If
-<B>OnEnable</B> returns <B>false</B>, task remains disabled. 
-<B>OnEnable</B> is invoked every time <B>enable</B> is called,
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>NOTE:
+</b>if task being enabled is not assigned to a scheduler and is not
+part of execution chain, then task <b>will not</b> be enabled.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>NOTE:
+</b>enable() invokes task’s <b>OnEnable</b> method (if not NULL)
+<b>immediately</b>, which can prepare task for execution. <b>OnEnable</b>
+must return a value of <b>true</b> for task to be enabled. If
+<b>OnEnable</b> returns <b>false</b>, task remains disabled. 
+<b>OnEnable</b> is invoked every time <b>enable</b> is called,
 regardless if task is already enabled or not. Alignment to current
-millis() is performed after <B>OnEnable</B> exits, so any changes to
-the interval inside <B>OnEnable</B> is taken into consideration.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">TaskScheduler
+millis() is performed after <b>OnEnable</b> exits, so any changes to
+the interval inside <b>OnEnable</b> is taken into consideration.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">TaskScheduler
 allows tasks to be added to the a Scheduler and enabled at the time
-of creation. <B>Be very careful</B> with such tasks – the <B>OnEnable
-</B>method will be executed immediately, while certain objects (i.e.,
-other Tasks, libraries) are not yet ready (e.g., <B>Wire.begin()</B>
+of creation. <b>Be very careful</b> with such tasks – the <b>OnEnable
+</b>method will be executed immediately, while certain objects (i.e.,
+other Tasks, libraries) are not yet ready (e.g., <b>Wire.begin()</b>
 was not yet called), or hardware not yet activated (pins not set to
 INPUT or OUTPUT). 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">It
-is very much recommended to to enable all tasks at the end of <B>setup()</B>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">It
+is very much recommended to to enable all tasks at the end of <b>setup()</b>
 method after all initializations are done. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
 you require immediate execution of already enabled task, use
-<B>forceNextIteratoin</B>() method instead of <B>enable</B>(): it
-achieves the result, but does not call <B>OnEnable</B> method. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:</B>
-in the event <B>enable</B>() method is called inside the <B>OnEnable</B>
+<b>forceNextIteratoin</b>() method instead of <b>enable</b>(): it
+achieves the result, but does not call <b>OnEnable</b> method. 
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>NOTE:</b>
+in the event <b>enable</b>() method is called inside the <b>OnEnable</b>
 callback method (thus basically creating indefinte loop),
-TaskScheduler will only call <B>OnEnable</B> once (thus protecting
-the Task against <B>OnEnable</B> infinite loop). 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>bool enableIfNot();</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
+TaskScheduler will only call <b>OnEnable</b> once (thus protecting
+the Task against <b>OnEnable</b> infinite loop). 
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>bool enableIfNot();</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Enables
 the task only if it was previously disabled. Returns previous enable
-state: <B>true</B> if task was already enabled, and <B>false</B> if
-task was disabled. Since <B>enable() </B>schedules Task for execution
+state: <b>true</b> if task was already enabled, and <b>false</b> if
+task was disabled. Since <b>enable() </b>schedules Task for execution
 immediately, this method provides a way to activate tasks and
 schedule them for immediate execution only if they are not active
-already.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void delay();</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Schedules
+already.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void delay();</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Schedules
 the task for execution after a delay (aInterval), but does not change
 the enabled/disabled status of the task. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
-</B>a delay of 0 (zero) will delay task for current execution
-interval. Use <B>forceNextIteration() </B>method to force execution
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>NOTE:
+</b>a delay of 0 (zero) will delay task for current execution
+interval. Use <b>forceNextIteration() </b>method to force execution
 of the task’s callback during immediate next scheduling pass. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void
-forceNextIteration();</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Schedules
-the task for execution during immediate next scheduling pass.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
-Task must be already <I>enabled</I> prior to this method. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
-</B>Task’s schedule is adjusted to run from this moment in time.
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void
+</b><b>forceNextIteration</b><b>();</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Schedules
+the task for execution during immediate next scheduling pass.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">The
+Task must be already <i>enabled</i> prior to this method. 
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>Note:
+</b>Task’s schedule is adjusted to run from this moment in time.
 For instance: if a task was running every 10 seconds: 10, 20, 30, ..,
-calling <B>forceNextIteration </B>at 44th second of task execution
-will make subsequent schedule  look like: 44, 54, 64, 74, ..</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void
-enableDelayed();</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
+calling <b>forceNextIteration </b>at 44th second of task execution
+will make subsequent schedule  look like: 44, 54, 64, 74, ..</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void
+enableDelayed();</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Enables
 the task, and schedules it for execution after task's current
 scheduling interval (aInterval). 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void enableDelayed
-(unsigned long aDelay);</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Enables
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void enableDelayed
+(unsigned long aDelay);</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Enables
 the task, and schedules it for execution after a specific delay
-(aDelay, which maybe different from aInterval). 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void restart();</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">For
-tasks with limited number of iterations only, <B>restart</B> method
+(aDelay, which may be different from aInterval). 
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void restart();</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">For
+tasks with limited number of iterations only, <b>restart</b> method
 will re-enable the task, set the number of iterations back to last
-set value, and schedule task for execution as soon as possible.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void restartDelayed
-(unsigned long aDelay);</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Same
-as <B>restart()</B> method, with the only difference being that Task
-is scheduled to run first iteration after a delay = <B>aDelay</B>
-milliseconds.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>bool disable();</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Disables
+set value, and schedule task for execution as soon as possible.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void restartDelayed
+(unsigned long aDelay);</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Same
+as <b>restart()</b> method, with the only difference being that Task
+is scheduled to run first iteration after a delay = <b>aDelay</b>
+milliseconds (or microseconds).</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>bool disable();</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Disables
 the task. Scheduler will not execute this task any longer, even if it
-remains in the chain.  Task <B>can</B> be later re-enabled for
+remains in the chain.  Task <b>can</b> be later re-enabled for
 execution. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Return
-previous enabled state: <B>true</B> if task was enabled prior to
-calling disable, and <B>false</B> otherwise.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
-not NULL, task’s <B>OnDisable</B> method is invoked <B>immediately</B>.
-<B>OnDisable</B> is invoked only if task was in enabled state. 
-Calling <B>disable</B> 3 times for instance will invoke <B>OnDisable</B>
-only once.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void set(unsigned
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Return
+previous enabled state: <b>true</b> if task was enabled prior to
+calling disable, and <b>false</b> otherwise.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
+not NULL, task’s <b>OnDisable</b> method is invoked <b>immediately</b>.
+<b>OnDisable</b> is invoked only if task was in enabled state. 
+Calling <b>disable</b> 3 times for instance will invoke <b>OnDisable</b>
+only once.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void set(unsigned
 long aInterval, long aIterations, void (*aCallback)() , bool
-(*aOnEnable)() , void (*aOnDisable)());</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Allows
+(*aOnEnable)() , void (*aOnDisable)());</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Allows
 dynamic control of task execution parameters in one method call. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note</B><B>:
-</B>OnEnable and OnDisable parameters can be omitted. In that case
-they will be assigned to <B>NULL</B> and respective methods will no
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>Note</b><b>:
+</b>OnEnable and OnDisable parameters can be omitted. In that case
+they will be assigned to <b>NULL</b> and respective methods will no
 longer be called. Therefore it is advisable to use either all five
 parameters explicitly, or employ individual “setter” methods
 below instead. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
 Next five “setter” methods allow changes of individual task
 execution control parameters. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
-setInterval (unsigned long aInterval) </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
-setIterations (long aIterations) </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
-setCallback (void (*aCallback)()) </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
-setOnEnable (bool (*aCallback)()) </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>void
-setOnDisable (void (*aCallback)()) </B>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: </B>Next
-execution time calculation takes place <B>after</B> the callback
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>void
+setInterval (unsigned long aInterval) </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>void
+setIterations (long aIterations) </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>void
+setCallback (void (*aCallback)()) </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>void
+setOnEnable (bool (*aCallback)()) </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>void
+setOnDisable (void (*aCallback)()) </b>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>NOTE: </b>Next
+execution time calculation takes place <b>after</b> the callback
 method is called, so new interval will be used immediately by the
 scheduler. For the situations when one task is changing the interval
-parameter for the other, <B>setInterval</B> method calls <B>delay
-</B>explicitly to guarantee schedule change, however it <B>does not
-</B>enable the task if task is disabled.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>NOTE: </B>Tasks that
+parameter for the other, <b>setInterval</b> method calls <b>delay
+</b>explicitly to guarantee schedule change, however it <b>does not
+</b>enable the task if task is disabled.</p>
+<p class="western" style="margin-bottom: 0in"><b>NOTE: </b>Tasks that
 ran through all their allocated iterations are disabled.
-<B>SetIterations()</B> method <B>DOES NOT</B> enable the task. Either
-<B>enable</B> explicitly, or use <B>restart</B> methods. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Please note that as a
-result execution of the taks is <B>delayed</B> by the provided
+<b>SetIterations()</b> method <b>DOES NOT</b> enable the task. Either
+<b>enable</b> explicitly, or use <b>restart</b> methods. 
+</p>
+<p class="western" style="margin-bottom: 0in">Please note that as a
+result execution of the taks is <b>delayed</b> by the provided
 interval. If immediate invocation is required, call
-<B>forceNextIteration</B>() method after setting a new interval. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>STATUS REQUEST
-METHODS:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>void waitFor(StatusRequest* aStatusRequest, unsigned long
-aInterval = 0, long aIterations = 1)</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>void waitForDelayed(StatusRequest* aStatusRequest, unsigned long
-aInterval = 0, long aIterations = 1)</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
+<b>forceNextIteration</b>() method after setting a new interval. 
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>STATUS REQUEST
+METHODS:</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>void waitFor(StatusRequest* aStatusRequest, unsigned long
+aInterval = 0, long aIterations = 1)</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>void waitForDelayed(StatusRequest* aStatusRequest, unsigned long
+aInterval = 0, long aIterations = 1)</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
 compiled with support for Status Requests, these methods make task
-wait for the completion of <B>aStatusRequest</B> event. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">By
-default <B>waitFor() </B>sets tasks interval to <B>0 (zero)</B> for
+wait for the completion of <b>aStatusRequest</b> event. 
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">By
+default <b>waitFor() </b>sets tasks interval to <b>0 (zero)</b> for
 immediate execution when event happens, and also sets the number of
-<B>iterations to 1</B>. However, you can specify different interval
+<b>iterations to 1</b>. However, you can specify different interval
 and number of iterations. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">By
-default <B>waitForDelayed() </B>sets tasks interval to a supplied
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">By
+default <b>waitForDelayed() </b>sets tasks interval to a supplied
 value or (if omitted or zero) keeps the current interval, so delayed
 execution will take place when the event happens.  It also sets the
-number of <B>iterations to 1</B> by default if not supplied.  
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">When
+number of <b>iterations to 1</b> by default if not supplied.  
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">When
 Status Request object completes, all tasks waiting on it are executed
-during next scheduling pass. Tasks waiting via <B>waitFor</B>()
-method are executed immediately. Tasks waiting via <B>waitForDelayed</B>()
+during next scheduling pass. Tasks waiting via <b>waitFor</b>()
+method are executed immediately. Tasks waiting via <b>waitForDelayed</b>()
 method are activated, but executed after current or supplied interval
 delay. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
-aStatusRequest</B> should be “activated” by calling <B>setWaiting()
-</B>method before making a task wait on it. Otherwise, the task will
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>Note:
+aStatusRequest</b> should be “activated” by calling <b>setWaiting()
+</b>method before making a task wait on it. Otherwise, the task will
 execute immediately. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
-sequence of events to use Status Request object is as follows:</P>
-<OL>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Create a status
-	request object</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Activate status
-	request object (calling its <B>setWaiting</B>() method)</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Set up tasks to
-	wait of the event completion</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Signal completion
-	of event(s)</P>
-</OL>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest*
-getStatusRequest()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">The
+sequence of events to use Status Request object is as follows:</p>
+<ol>
+	<li><p class="western" style="margin-bottom: 0in">Create a status
+	request object</p>
+	<li><p class="western" style="margin-bottom: 0in">Activate status
+	request object (calling its <b>setWaiting</b>() method)</p>
+	<li><p class="western" style="margin-bottom: 0in">Set up tasks to
+	wait of the event completion</p>
+	<li><p class="western" style="margin-bottom: 0in">Signal completion
+	of event(s)</p>
+</ol>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>StatusRequest*
+getStatusRequest()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Returns
 a StatusReqeust object this Task was waiting on. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>TASK ID, CONTROL POINTS METHODS:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>void setId(unsigned int aID);</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>TASK ID, CONTROL POINTS METHODS:</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>void setId(unsigned int aID);</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
 compiled with support for Task IDs, this method will set the task ID
 explicitly. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Calling
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Calling
 this method is not necessary as task IDs are assigned automatically
-during task creation: 1, 2, 3, …</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>unsigned int getId();</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
+during task creation: 1, 2, 3, …</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>unsigned int getId();</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
 compiled with support for Task IDs, this method return current task’s
-ID.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>void setControlPoint (unsigned int aPoint);</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
+ID.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>void setControlPoint (unsigned int aPoint);</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
 compiled with support for Task IDs, this method will set a control
 point in the task’s code. Control points are similar to “try…catch”
 blocks, with control point ID specifying where in the code the “try”
 part started, and a mechanism like watchdog timer providing the
-“catch” functionality.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>unsigned int getControlPoint()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
+“catch” functionality.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>unsigned int getControlPoint()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
 If compiled with support for Task IDs, this method will return
-currently set control point for this task.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>LOCAL TASK STORAGE
-METHODS:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>void setLtsPointer(void *aPtr);</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
+currently set control point for this task.</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>LOCAL TASK STORAGE
+METHODS:</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>void setLtsPointer(void *aPtr);</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
 compiled with support for LTS, this method will set the task's local
-storage pointer.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>void *getLtsPointer();</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
+storage pointer.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>void *getLtsPointer();</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
 compiled with support for LTS, this method will return reference to
-the task's local storage.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
-</B>the value returned has type (void *), and needs to be re-cast
+the task's local storage.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>Note:
+</b>the value returned has type (void *), and needs to be re-cast
 into appropriate pointer type. Please refer to example sketches for
 implementation options. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>STATUS REQUEST:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>CREATION:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>StatusRequest()</B><BR><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Default
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>STATUS REQUEST:</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>CREATION:</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>StatusRequest()</b><br><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Default
 constructor. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Takes
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Takes
 no parameters. Creates Status Request object, which is assigned a
 status of “completed” on creation. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void
-setWaiting(unsigned int aCount = 1)</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Activates
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void
+setWaiting(unsigned int aCount = 1)</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Activates
 Status Request object. By default each object is set to wait on one
-event only, however, if <B>aCount</B> is supplied, Status Request can
-wait on multiple events. For instance, <B>setWaiting(3)</B> will wait
+event only, however, if <b>aCount</b> is supplied, Status Request can
+wait on multiple events. For instance, <b>setWaiting(3)</b> will wait
 on three signals. An example could be waiting for completion of
 measurements from 3 sensors. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>bool signal(int
-aStatus)</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Signals
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>bool signal(int
+aStatus)</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Signals
 completion of the event to the Status Request object, and passes a
 completion code, which could be interrogated later. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
-</B> passing a <B>negative</B> status code to the status request
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>Note:
+</b> passing a <b>negative</b> status code to the status request
 object is considered reporting an error condition, and will complete
 the status request regardless of how many outstanding signals it is
 still waiting for. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note</B>:
-only the latest status code is kept.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>bool signalComplete
-(int aStatus)</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Signals
-completion of <B>ALL</B> events to the Status Request object, and
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>Note</b>:
+only the latest status code is kept.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>bool signalComplete
+(int aStatus)</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Signals
+completion of <b>ALL</b> events to the Status Request object, and
 passes a completion code, which could be interrogated later. The
 status request completes regardless of how many events it is still
 waiting on. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>bool pending() </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
-<B>true</B> if status request is still waiting for event or events to
-happen.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>bool completed () </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
-<B>true</B> if status has completed.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>int getStatus()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
-the status code passed to the status request object by the <B>signal()
-</B>and <B>signalComplete() </B>methods. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Any
-<B>positive</B> number is considered a successful completion status.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">A
-0 (zero) is considered a default successful completion status.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Any
-<B>negative</B> number is considered an error code and unsuccessful
-completion of a request.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
-<FONT SIZE=4><B>TASK SCHEDULER:</B></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
-<B>CREATION:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>Scheduler()</B><BR><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Default
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>bool pending() </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Returns
+<b>true</b> if status request is still waiting for event or events to
+happen.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>bool completed () </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Returns
+<b>true</b> if status has completed.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>int getStatus()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Returns
+the status code passed to the status request object by the <b>signal()
+</b>and <b>signalComplete() </b>methods. 
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Any
+<b>positive</b> number is considered a successful completion status.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">A
+0 (zero) is considered a default successful completion status.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Any
+<b>negative</b> number is considered an error code and unsuccessful
+completion of a request.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
+<font size="4" style="font-size: 14pt"><b>TASK SCHEDULER:</b></font></p>
+<p class="western" style="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
+<b>CREATION:</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-inside: avoid; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>Scheduler()</b><br><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Default
 constructor. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Takes
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Takes
 no parameters. Creates task scheduler with default parameters and an
 empty task queue. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void init()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Initializes
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void init()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Initializes
 the task queue and scheduler parameters, Executed as part of
-constructor, so don't need to be explicitly called after creation.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
-</B>be default (if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
+constructor, so don't need to be explicitly called after creation.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>Note:
+</b>be default (if compiled with <font face="Courier New, monospace">_TASK_TIMECRITICAL</font>
 enabled) scheduler is allowed to put processor to IDLE sleep mode. If
-this behavior was changed via <B>allowSleep()</B> method, <B>inti()
-</B>will <B>NOT</B> reset allow sleep particular parameter. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
-addTask(Task&amp; aTask)</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Adds
+this behavior was changed via <b>allowSleep()</b> method, <b>inti()
+</b>will <b>NOT</b> reset allow sleep particular parameter. 
+</p>
+<p class="western" style="margin-bottom: 0in"><br><b>void
+addTask(Task&amp; aTask)</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Adds
 task aTask to the execution queue (or chain) of tasks by appending it
 to the end of the chain. If two tasks are scheduled for execution,
 the sequence will match the order in which tasks were appended to the
 chain. However, in reality, due to different timing of task
 execution, the actual order may be different. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
-</B>Currently, changing the execution sequence in a chain dynamically
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>Note:
+</b>Currently, changing the execution sequence in a chain dynamically
 is not supported. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
 you need to reorder the chain sequence – initialize the scheduler
 and re-add the tasks in a different order. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
-deleteTask(Task&amp; aTask)</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Deletes
+</p>
+<p class="western" style="margin-bottom: 0in"><br><b>void
+deleteTask(Task&amp; aTask)</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Deletes
 task aTask from the execution chain. The chain of remaining tasks is
-linked together (i.e</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">if
+linked together (i.e</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">if
 original task chain is 1 → 2 → 3 → 4, deleting 3 will result in
-1 → 2 → 4).</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Note:
-</B>it is not required to delete a task from the chain. A disabled
+1 → 2 → 4).</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>Note:
+</b>it is not required to delete a task from the chain. A disabled
 task will not be executed anyway, but you save a few microseconds per
 scheduling pass by deleting it, since it is not even considered for
 execution. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">An
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">An
 example of proper use of this method would be running some sort of
-<B>initialize</B> task in the chain, and then deleting it from the
+<b>initialize</b> task in the chain, and then deleting it from the
 chain since it only needs to run once. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void allowSleep(bool
-aState) </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Available
-in API only  if compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
-enabled. Controls whether scheduler is allowed (<B>aState =true</B>),
-or not (<B>aState =false</B>) to put processor into IDLE sleep mode
-in case not tasks are scheduled to run.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">The
-<B>default</B> behavior of scheduler upon creation is to allow sleep
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void allowSleep(bool
+aState) </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Available
+in API only  if compiled with <font face="Courier New, monospace">_TASK_TIMECRITICAL</font>
+enabled. Controls whether scheduler is allowed (<b>aState =true</b>),
+or not (<b>aState =false</b>) to put processor into IDLE sleep mode
+in case not tasks are scheduled to run.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">The
+<b>default</b> behavior of scheduler upon creation is to allow sleep
 mode. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>void
-enableAll(bool aRecursive= true)</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void disableAll(bool
-aRecursive= true)</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">enables
+</p>
+<p class="western" style="margin-bottom: 0in"><br><b>void
+enableAll(bool aRecursive= true)</b></p>
+<p class="western" style="margin-bottom: 0in"><b>void disableAll(bool
+aRecursive= true)</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">enables
 and disables (respectively) all tasks in the chain. Convenient if
 your need to enable/disable majority of the tasks (i.e. disable all
 and then enable one). 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
-support for layered task priority is enabled, supplying <B>aRecursive</B>
-parameter will enable/disable higher priority tasks as well (<B>true</B>,
-default), or tasks only on this priority layer (<B>false</B>). 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR><B>Task&amp; currentTask()<BR></B><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
-reference to the task, currently executing via <B>execute()</B> loop
-<B>OR </B>for OnEnable and OnDisable methods, reference to the task
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
+support for layered task priority is enabled, supplying <b>aRecursive</b>
+parameter will enable/disable higher priority tasks as well (<b>true</b>,
+default), or tasks only on this priority layer (<b>false</b>). 
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br><b>Task&amp; currentTask()<br></b><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Returns
+reference to the task, currently executing via <b>execute()</b> loop
+<b>OR </b>for OnEnable and OnDisable methods, reference to the task
 being enabled or disabled. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">This
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">This
 distinction is important because one task can activate the other, and
 OnEnable should be referring to the task being enabled, not being
 executed. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Could
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Could
 be used by callback methods to identify which Task actually invoked
-this callback method.</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>void* currentLts()<BR></B><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Returns
+this callback method.</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>void* currentLts()<br></b><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Returns
 pointer to Local Task Storage of the task, currently executing via
-<B>execute()</B> loop <B>OR </B>for OnEnable and OnDisable methods,
+<b>execute()</b> loop <b>OR </b>for OnEnable and OnDisable methods,
 task being enabled or disabled. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR><B>bool execute()</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Executes
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void startNow (bool
+aRecursive= true)</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Sets
+<b>ALL active tasks</b> in the execution chain to start execution
+immediately. Should be placed at the end of <b>setup()</b> method to
+prevent task execution race due to long running setup tasks (hardware
+initialization, etc.) following task activation. 
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
+support for layered task priority is enabled, supplying <b>aRecursive</b>
+parameter will set immediate execution for higher priority tasks as
+well (<b>true</b>, default), or tasks only on this priority layer
+(<b>false</b>). 
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>NOTE:
+</b>if <b>setup()</b> method does not contain long running tasks, use
+of <b>startNow()</b> method is not necessary. Alternatively, all
+tasks could be enabled <b>after </b>long-running <b>setup()</b>
+processes, thus eliminating the need to use <b>startNow()</b> method.
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>NOTE:
+</b>Any tasks which should execute after a <i><b>delay</b></i>,
+should be explicitly delayed after call to <b>startNow()</b> method. 
+</p>
+<p class="western" style="margin-bottom: 0in"><br><b>bool execute()</b></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Executes
 one scheduling pass, including (in case of the base priority
-scheduler) end-of-pass sleep. This method is typically placed inside
-the <B>loop()</B> method of the sketch. Since <B>execute</B> exits
-after every pass, you can put additional statements after <B>execute</B>
-inside the <B>loop().</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>If
+scheduler) end-of-pass sleep. This method should be placed inside the
+<b>loop()</b> method of the sketch. Since <b>execute</b> exits after
+every pass, you can put additional statements after <b>execute</b>
+inside the <b>loop().</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>If
 layered task prioritization is enabled, all higher priority tasks
-will be evaluated and invoked by the base <FONT FACE="Courier New, monospace">execute()</FONT>
-method. There is no need to call <FONT FACE="Courier New, monospace">execute()</FONT>
-of the higher priority schedulers explicitly. </B>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">Generally,
-base priority execute will perform the following steps:</P>
-<OL>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Call higher
-	priority scheduler’s execute method, if provided.</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Ignore task
-	completely if it is disabled.</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Disable task if it
-	ran out of iterations (calling OnDisable, if necessary).</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Check if task is
+will be evaluated and invoked by the base </b><font face="Courier New, monospace"><b>execute()</b></font><b>
+method. There is no need to call </b><font face="Courier New, monospace"><b>execute()</b></font><b>
+of the higher priority schedulers explicitly. </b>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">Generally,
+base priority execute will perform the following steps:</p>
+<ol>
+	<li><p class="western" style="margin-bottom: 0in">Call higher
+	priority scheduler’s execute method, if provided.</p>
+	<li><p class="western" style="margin-bottom: 0in">Ignore task
+	completely if it is disabled.</p>
+	<li><p class="western" style="margin-bottom: 0in">Disable task if it
+	ran out of iterations (calling OnDisable, if necessary).</p>
+	<li><p class="western" style="margin-bottom: 0in">Check if task is
 	waiting on a StatusRequest object, and make appropriate scheduling
-	arrangements</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Perform necessary
-	timing calculations</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Invoke task's
+	arrangements</p>
+	<li><p class="western" style="margin-bottom: 0in">Perform necessary
+	timing calculations</p>
+	<li><p class="western" style="margin-bottom: 0in">Invoke task's
 	callback method, if it is time to do so, and one is provided. 
-	</P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in">Put
+	</p>
+	<li><p class="western" style="margin-bottom: 0in">Put
 	microcontroller to sleep (if requested and supported) if none of the
 	tasks were invoked. 
-	</P>
-</OL>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>Please
-NOTE:</B> schedule-related calculations are performed prior to task's
+	</p>
+</ol>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>Please
+NOTE:</b> schedule-related calculations are performed prior to task's
 callback method invocation. This allows tasks to manipulate their
-runtime parameters (like execution interval) directly.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>bool isOverrun()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
-library is compiled with <FONT FACE="Courier New, monospace">_TASK_TIMECRITICAL</FONT>
-enabled, this method returns <B>true</B> if currently invoked task
+runtime parameters (like execution interval) directly.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>bool isOverrun()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
+library is compiled with <font face="Courier New, monospace">_TASK_TIMECRITICAL</font>
+enabled, this method returns <b>true</b> if currently invoked task
 has overrun its scheduled start time when it was invoked. Returns
-<B>false</B> if task has been invoked according to schedule.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>TASK PRIORITY:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>void
-setHighPriorityScheduler(Scheduler* aScheduler);</B><BR><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
-library is compiled with <FONT FACE="Courier New, monospace">_TASK_PRIORITY
-</FONT>enabled, this method associates current scheduler with a
+<b>false</b> if task has been invoked according to schedule.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>TASK PRIORITY:</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>void
+setHighPriorityScheduler(Scheduler* aScheduler);</b><br><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
+library is compiled with <font face="Courier New, monospace">_TASK_PRIORITY
+</font>enabled, this method associates current scheduler with a
 higher priority scheduler. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
-</B>Only one <B>execute() </B>method needs to be explicitly called in
-the main <B>loop(). </B>That is the execute method of <B>base</B>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>NOTE:
+</b>Only one <b>execute() </b>method needs to be explicitly called in
+the main <b>loop(). </b>That is the execute method of <b>base</b>
 priority scheduler. All higher priority schedulers are called by the
-base priority scheduler.</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><B>static Scheduler&amp;
-currentScheduler()</B></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">If
-library is compiled with <FONT FACE="Courier New, monospace">_TASK_PRIORITY
-</FONT>enabled, this method returns reference to a scheduler, which
+base priority scheduler.</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><b>static Scheduler&amp;
+currentScheduler()</b></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">If
+library is compiled with <font face="Courier New, monospace">_TASK_PRIORITY
+</font>enabled, this method returns reference to a scheduler, which
 invoked current task. 
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><B>NOTE:
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><b>NOTE:
 Please refer to examples 11 and 12 for illustration of Task Priority
-functionality</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<B>CONSTANTS:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
-<B>TASK_SECOND	(1000)</B></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
-interval of 1 second</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
-<B>TASK_MINUTE	(60000)</B></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
-interval of 1 minute</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
-<B>TASK_HOUR		(3600000)</B></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
-interval of 1 hour</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
-<B>TASK_FOREVER	(-1)</B></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
-number of iterations for infinite number of iterations</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
-<B>TASK_ONCE		(1)</B></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
-single iteration</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
-<B>TASK_IMMEDIATE	(0)</B></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">Task
-interval for immediate execution</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-before: always; page-break-after: avoid">
-<B>IMPLEMENTATION SCENARIOS AND IDEAS:</B></P>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<OL>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-	<B>EVENT DRIVEN PROGRAMMING</B></P>
-</OL>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Each of the processes
+functionality</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<b>CONSTANTS:</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
+<b>TASK_SECOND	(1000 millis or 1000000 micros)</b></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">Task
+interval of 1 second</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
+<b>TASK_MINUTE	(60000 millis or 60000000 micros)</b></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">Task
+interval of 1 minute</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
+<b>TASK_HOUR		(3600000 millis or 3600000000 micros)</b></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">Task
+interval of 1 hour</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
+<b>TASK_FOREVER	(-1)</b></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">Task
+number of iterations for infinite number of iterations</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
+<b>TASK_ONCE		(1)</b></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">Task
+single iteration</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
+<b>TASK_IMMEDIATE	(0)</b></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">Task
+interval for immediate execution</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in; page-break-before: always; page-break-after: avoid">
+<b>IMPLEMENTATION SCENARIOS AND IDEAS:</b></p>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<ol>
+	<li><p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+	<b>EVENT DRIVEN PROGRAMMING</b></p>
+</ol>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in">Each of the processes
 of your application becomes a separate and distinct programming area,
 which may or may not interact and control each other. 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Example: 
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">In a plant watering
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Example: 
+</p>
+<p class="western" style="margin-bottom: 0in">In a plant watering
 system you need to measure soil humidity, control pump and display
-the results</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Each of the areas
-becomes a task:</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-<B>tMeasure</B> (TMEASURE_INTERVAL*SECOND, TASK_FOREVER,
-&amp;measureCallback);<BR>Task <B>tWater</B>  
-(TWATER_INTERVAL*SECOND, RETRIES, &amp;waterCallback);<BR>Task
-<B>tDisplay</B> (TDISPLAY_INTERVAL*SECOND, TASK_FOREVER,
-&amp;displayCallback); <BR></FONT></FONT><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
-</FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2><B>taskManager</B></FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2>;</FONT></FONT><BR><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Further, once you turn
+the results</p>
+<p class="western" style="margin-bottom: 0in">Each of the areas
+becomes a task:</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+</font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><b>tMeasure</b></font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">
+(TMEASURE_INTERVAL*SECOND, TASK_FOREVER, &amp;measureCallback);<br>Task
+</font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><b>tWater</b></font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">
+  (TWATER_INTERVAL*SECOND, RETRIES, &amp;waterCallback);<br>Task
+</font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><b>tDisplay</b></font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">
+(TDISPLAY_INTERVAL*SECOND, TASK_FOREVER, &amp;displayCallback); <br></font></font><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Scheduler
+</font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><b>taskManager</b></font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">;</font></font><br><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Further, once you turn
 on the pump, you keep it running for TWATER_INTERVAL interval and
 then turn it off. Turning off a pump is also a task which only needs
-to run once for every time the pump is turned on:</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-</FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2><B>tWaterOff</B></FONT></FONT><FONT FACE="Courier New, monospace"><FONT SIZE=2>
-(WATERTIME*SECOND, TASK_ONCE,</FONT></FONT><FONT FACE="Courier New, monospace">
-&amp;waterOffCallback);</FONT><BR><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in">Example of the callback
-method:</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-waterOffCallback() {<BR>    motorOff();<BR>   
-tWater.enableDelayed();<BR>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>or</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-waterCallback() {<BR>    if (tWater.getIterations()) {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-If this is not the last iteration = turn the pump on<BR>     
-motorOn();<BR>      tWaterOff.set(parameters.watertime * TASK_SECOND,
-TASK_ONCE, &amp;waterOffCallback);<BR>     
-tWaterOff.enableDelayed();<BR>      return;<BR>    }</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-We could not reach target humidity – something is wrong<BR>   
-motorOff;<BR>    taskManager.disableAll();<BR>    tError.enable();<BR>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Your
-sample <B>setup</B>() and <B>loop</B>() (partially) are as follows. </FONT>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Note:
-</B>please note that tWater is <B>not</B> activated during setup().
-It is activated by tMeasure callback once the watering conditions are
-met. </FONT>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT SIZE=2><FONT FACE="Times New Roman, serif">	void
-</FONT><FONT FACE="Courier New, monospace">setup()</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	
- ...</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT SIZE=2><FONT FACE="Courier New, monospace">tWater.setIterations(parameters.retries);<BR>
- tWaterOff.setInterval(parameters.watertime * SECOND);<BR><BR><BR> 
-taskManager.init();<BR>  taskManager.addTask(tMeasure);<BR> 
-taskManager.addTask(tDisplay);<BR>  taskManager.addTask(tWater);<BR> 
-taskManager.addTask(tWaterOff);<BR>  <BR>  tMeasure.enable();<BR> 
-tDisplay.enable();<BR><BR>  currentHumidity =
-measureHumidity();<BR>}<BR><BR><BR>void loop ()<BR>{<BR> 
-taskManager.execute();<BR>}</FONT><FONT FACE="Times New Roman, serif"><BR></FONT></FONT><BR>
-</P>
-<OL START=2>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-	“<FONT FACE="Times New Roman, serif"><B>NATIVE” SUPPORT FOR
-	FINITE STATE MACHINE</B></FONT></P>
-</OL>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Define
+to run once for every time the pump is turned on:</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+</font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><b>tWaterOff</b></font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">
+(WATERTIME*SECOND, TASK_ONCE,</font></font><font face="Courier New, monospace">
+&amp;waterOffCallback);</font><br><br>
+</p>
+<p class="western" style="margin-bottom: 0in">Example of the callback
+method:</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+waterOffCallback() {<br>    motorOff();<br>   
+tWater.enableDelayed();<br>}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">or</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+waterCallback() {<br>    if (tWater.getIterations()) {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+If this is not the last iteration = turn the pump on<br>     
+motorOn();<br>      tWaterOff.set(parameters.watertime * TASK_SECOND,
+TASK_ONCE, &amp;waterOffCallback);<br>     
+tWaterOff.enableDelayed();<br>      return;<br>    }</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+We could not reach target humidity – something is wrong<br>   
+motorOff;<br>    taskManager.disableAll();<br>    tError.enable();<br>}</font></font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">Your
+sample </font><font face="Times New Roman, serif"><b>setup</b></font><font face="Times New Roman, serif">()
+and </font><font face="Times New Roman, serif"><b>loop</b></font><font face="Times New Roman, serif">()
+(partially) are as follows. </font>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif"><b>Note:
+</b></font><font face="Times New Roman, serif">please note that
+tWater is </font><font face="Times New Roman, serif"><b>not</b></font><font face="Times New Roman, serif">
+activated during setup(). It is activated by tMeasure callback once
+the watering conditions are met. </font>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 10pt">	void
+</font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">setup()</font></font></p>
+<p class="western" style="margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	
+ ...</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tWater.setIterations(parameters.retries);<br>
+ tWaterOff.setInterval(parameters.watertime * SECOND);<br><br><br> 
+taskManager.init();<br>  taskManager.addTask(tMeasure);<br> 
+taskManager.addTask(tDisplay);<br>  taskManager.addTask(tWater);<br> 
+taskManager.addTask(tWaterOff);<br>  <br>  tMeasure.enable();<br> 
+tDisplay.enable();<br><br>  currentHumidity =
+measureHumidity();<br>}<br><br><br>void loop ()<br>{<br> 
+taskManager.execute();<br>}</font></font><font face="Times New Roman, serif"><font size="2" style="font-size: 10pt"><br></font></font><br>
+</p>
+<ol start="2">
+	<li><p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+	“<font face="Times New Roman, serif"><b>NATIVE” SUPPORT FOR
+	FINITE STATE MACHINE</b></font></p>
+</ol>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">Define
 “states” as callback method or methods. Each callback method
 executes activities specific to a “state” and then “transitions”
-to the next state by assigning next callback method to the task. </FONT>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Transition
+to the next state by assigning next callback method to the task. </font>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">Transition
 from one state to the next is achieved by setting next callback
-method at the end of preceding one. </FONT>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Note:
-</B>do not call the next callback method explicitly. Yield to the
-scheduler, and let the scheduler take care of next iteration during
-the next pass. (Thus giving other tasks change to run their callback
-methods). </FONT>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Example:
-Blinking LED 2 times a second could be achieved this way</FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
-ts;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-tLedBlinker (500, TASK_FOREVER, &amp;ledOnCallback, &amp;ts, true);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
- ledOnCallback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	turnLedOn();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tLedBlinker.setCallback(&amp;ledOffCallback);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
- ledOffCallback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	turnLedOff();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tLedBlinker.setCallback(&amp;ledOnCallback);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>setup()
-{</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>loop
-() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	ts.execute();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT><FONT FACE="Times New Roman, serif"><BR></FONT><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Obviously
+method at the end of preceding one. </font>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif"><b>Note:
+</b></font><font face="Times New Roman, serif">do not call the next
+callback method explicitly. Yield to the scheduler, and let the
+scheduler take care of next iteration during the next pass. (Thus
+giving other tasks change to run their callback methods). </font>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">Example:
+Blinking LED 2 times a second could be achieved this way</font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Scheduler
+ts;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+tLedBlinker (500, TASK_FOREVER, &amp;ledOnCallback, &amp;ts, true);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+ ledOnCallback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	turnLedOn();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	tLedBlinker.setCallback(&amp;ledOffCallback);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+ ledOffCallback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	turnLedOff();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	tLedBlinker.setCallback(&amp;ledOnCallback);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">setup()
+{</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">loop
+() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	ts.execute();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font><font face="Times New Roman, serif"><br></font><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">Obviously
 the example is simple, but gives the idea of how the tasks could be
-used to go through states.</FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<OL START=3>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-	<FONT FACE="Times New Roman, serif"><B>MULTIPLE POSSIBLE CALLBACKS
-	FOR TASK</B></FONT></P>
-</OL>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">There
+used to go through states.</font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<ol start="3">
+	<li><p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+	<font face="Times New Roman, serif"><b>MULTIPLE POSSIBLE CALLBACKS
+	FOR TASK</b></font></p>
+</ol>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">There
 may be a need to select an option for callback method based on
-certain criteria, or randomly. </FONT>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
+certain criteria, or randomly. </font>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">You
 can achieve that by defining an array of callback method pointers and
-selecting one based on the criteria you need. </FONT>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Example:
+selecting one based on the criteria you need. </font>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">Example:
 when a robot detects an obstacle, it may go left, right backwards,
 etc. Each of the “directions” or “behaviors” are represented
-by a different callback methods. </FONT>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Another
-example of using multiple callbacks:</FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">You
-may need to “initialize” variables for a particular task.</FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
-this case, define a tasks with two callbacks:</FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-<B>tWork</B> (T_INTERVAL, TASK_FOREVER, &amp;workCallbackInit);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">…</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
- workCallbackInit() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
-do your initializationstuff here</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
-finally assigne the main callback method </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tWork.setCallback(&amp;workCallback);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-workCallback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
-main callback method</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	…</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
+by a different callback methods. </font>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">Another
+example of using multiple callbacks:</font></p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">You
+may need to “initialize” variables for a particular task.</font></p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">In
+this case, define a tasks with two callbacks:</font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+</font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><b>tWork</b></font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">
+(T_INTERVAL, TASK_FOREVER, &amp;workCallbackInit);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">…</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+ workCallbackInit() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	//
+do your initializationstuff here</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	//
+finally assigne the main callback method </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	tWork.setCallback(&amp;workCallback);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+workCallback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	//
+main callback method</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	…</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">The
 task will initialize during first execution pass and switch to
 “regular” callback execution starting with second pass. There is
 a delay between first and second passes of the task (scheduling
 period, if defined). In order to execute the second pass immediately
-after initialization first pass, change the above code like this:</FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
- workCallbackInit() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
-do your initializationstuff here</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	//
-finally assigne the main callback method </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tWork.setCallback(&amp;workCallback);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	tWork.enable();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">The
+after initialization first pass, change the above code like this:</font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+ workCallbackInit() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	//
+do your initializationstuff here</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	//
+finally assigne the main callback method </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	tWork.setCallback(&amp;workCallback);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	tWork.enable();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">The
 task will run initialization first, then immediately second pass, and
 then switch to processing at regular intervals starting with a third
-pass. </FONT>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<OL START=3>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-	<FONT FACE="Times New Roman, serif"><B>INTERRUP-DRIVEN EXECUTION
-	SUPPORT </B></FONT>
-	</P>
-</OL>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">In
+pass. </font>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<ol start="3">
+	<li><p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+	<font face="Times New Roman, serif"><b>INTERRUP-DRIVEN EXECUTION
+	SUPPORT </b></font>
+	</p>
+</ol>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">In
 case of interrupt-driven program flow, tasks could be scheduled to
 run once to request asynchronous execution (request), and then
 re-enabled (restarted) again with a different callback method to
-process the results. </FONT>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>Example</B>:
+process the results. </font>
+</p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif"><b>Example</b></font><font face="Times New Roman, serif">:
 event driven distance calculation for ultrasonic pulses. EchoPin #6
 triggers pin change interrupts on rising and falling edges to
-determine the length of ultrasonic pulse.</FONT></P>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
-&lt;DirectIO.h&gt;<BR>#include &lt;TaskScheduler.h&gt;<BR>#include
-&lt;PinChangeInt.h&gt;<BR><BR><BR>#define  TRIGGERPIN 5<BR>#define 
-ECHOPIN    6<BR><BR>Output&lt;TRIGGERPIN&gt; 
-pTrigger;<BR>Input&lt;ECHOPIN&gt;      pEcho;<BR><BR>Scheduler
-r;<BR><BR>Task  tMeasure(TASK_SECOND, TASK_FOREVER, &amp;measureCallback,
-&amp;r, true);<BR>Task  tDisplay(TASK_SECOND, TASK_FOREVER,
-&amp;displayCallback, &amp;r, true);<BR>Task  tPing(TASK_IMMEDIATE,
-TASK_ONCE, &amp;pingCalcCallback, &amp;r, false);<BR><BR><BR>volatile
-bool pulseBusy = false;<BR>volatile bool pulseTimeout =
-false;<BR>volatile unsigned long pulseStart = 0;<BR>volatile unsigned
-long pulseStop = 0;<BR>volatile unsigned long pingDistance =
-0;<BR><BR><BR>void pingTrigger(unsigned long aTimeout) {<BR>  if
-(pulseBusy) return;  // do not trigger if in the middle of a pulse<BR>
- if (pEcho == HIGH) return; // do not trigger if ECHO pin is high<BR>
- <BR>  pulseBusy = true;<BR>  pulseTimeout = false;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><BR>
- pTrigger = LOW;<BR>  delayMicroseconds(4);<BR>  pTrigger = HIGH;<BR><BR>
- tPing.setInterval (aTimeout);<BR><BR>  delayMicroseconds(10);<BR> 
-pTrigger = LOW; <BR></FONT></FONT><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tPing.restartDelayed();
-// timeout countdown starts now<BR></FONT></FONT><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-will start the pulse clock on the rising edge of ECHO pin</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>PCintPort::attachInterrupt(ECHOPIN,
-&amp;pingStartClock, RISING); <BR>}<BR><BR></FONT></FONT><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-Start clock on the <B>rising</B> edge of the ultrasonic pulse<BR>void
-pingStartClock() {<BR>  pulseStart = micros();<BR> 
-PCintPort::detachInterrupt(ECHOPIN); // not sure this is necessary<BR>
- PCintPort::attachInterrupt(ECHOPIN, &amp;pingStopClock, FALLING); <BR>
- tPing.restartDelayed();<BR>}<BR><BR>// Stop clock on the <B>falling</B>
-edge of the ultrasonic pulse<BR>void pingStopClock() {<BR>  pulseStop
-= micros();<BR>  PcintPort::detachInterrupt(ECHOPIN);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>pingDistance =
-pulseStop - pulseStart;<BR>  pulseBusy = false;<BR>  tPing.disable();
-// disable timeout<BR>}<BR></FONT></FONT><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-Stop clock because of the timeout – the wave did not return<BR>void
-pingCalcCallback() {<BR>  if (pulseBusy) {<BR>    pingStopClock();<BR>
- }<BR>  pulseTimeout = true;<BR>}<BR><BR><BR><BR>// Initial measure
-callback sets the trigger<BR>void measureCallback() {<BR>  if
-(pulseBusy) {  // already measuring, try again<BR>   
-tMeasure.enable();<BR>    return;<BR>  }<BR>  pingTrigger(30); // 30
-milliseconds or max range of ~5.1 meters<BR> 
-tMeasure.setCallback(&amp;measureCallbackWait);<BR>}<BR></FONT></FONT><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-Wait for the measurement to <BR>void measureCallbackWait() {<BR>  if
-(pulseBusy) return;<BR>  tMeasure.setCallback(&amp;measureCallback); 
-<BR>}<BR><BR><BR>bool state = true;<BR><BR>void displayCallback() {<BR>
- char d[256];<BR>   <BR>  unsigned long cm = pingDistance * 17 / 100;
-// cm<BR>  <BR>  snprintf(d, 256, &quot;pulseStart =
+determine the length of ultrasonic pulse.</font></p>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">#include
+&lt;DirectIO.h&gt;<br>#include &lt;TaskScheduler.h&gt;<br>#include
+&lt;PinChangeInt.h&gt;<br><br><br>#define  TRIGGERPIN 5<br>#define 
+ECHOPIN    6<br><br>Output&lt;TRIGGERPIN&gt; 
+pTrigger;<br>Input&lt;ECHOPIN&gt;      pEcho;<br><br>Scheduler
+r;<br><br>Task  tMeasure(TASK_SECOND, TASK_FOREVER, &amp;measureCallback,
+&amp;r, true);<br>Task  tDisplay(TASK_SECOND, TASK_FOREVER,
+&amp;displayCallback, &amp;r, true);<br>Task  tPing(TASK_IMMEDIATE,
+TASK_ONCE, &amp;pingCalcCallback, &amp;r, false);<br><br><br>volatile
+bool pulseBusy = false;<br>volatile bool pulseTimeout =
+false;<br>volatile unsigned long pulseStart = 0;<br>volatile unsigned
+long pulseStop = 0;<br>volatile unsigned long pingDistance =
+0;<br><br><br>void pingTrigger(unsigned long aTimeout) {<br>  if
+(pulseBusy) return;  // do not trigger if in the middle of a pulse<br>
+ if (pEcho == HIGH) return; // do not trigger if ECHO pin is high<br>
+ <br>  pulseBusy = true;<br>  pulseTimeout = false;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><br>
+ pTrigger = LOW;<br>  delayMicroseconds(4);<br>  pTrigger = HIGH;<br><br>
+ tPing.setInterval (aTimeout);<br><br>  delayMicroseconds(10);<br> 
+pTrigger = LOW; <br></font></font><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tPing.restartDelayed();
+// timeout countdown starts now<br></font></font><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+will start the pulse clock on the rising edge of ECHO pin</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">PCintPort::attachInterrupt(ECHOPIN,
+&amp;pingStartClock, RISING); <br>}<br><br></font></font><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+Start clock on the </font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><b>rising</b></font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">
+edge of the ultrasonic pulse<br>void pingStartClock() {<br> 
+pulseStart = micros();<br>  PCintPort::detachInterrupt(ECHOPIN); //
+not sure this is necessary<br>  PCintPort::attachInterrupt(ECHOPIN,
+&amp;pingStopClock, FALLING); <br>  tPing.restartDelayed();<br>}<br><br>//
+Stop clock on the </font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><b>falling</b></font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">
+edge of the ultrasonic pulse<br>void pingStopClock() {<br>  pulseStop
+= micros();<br>  PcintPort::detachInterrupt(ECHOPIN);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">pingDistance
+= pulseStop - pulseStart;<br>  pulseBusy = false;<br> 
+tPing.disable(); // disable timeout<br>}<br></font></font><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+Stop clock because of the timeout – the wave did not return<br>void
+pingCalcCallback() {<br>  if (pulseBusy) {<br>    pingStopClock();<br>
+ }<br>  pulseTimeout = true;<br>}<br><br><br><br>// Initial measure
+callback sets the trigger<br>void measureCallback() {<br>  if
+(pulseBusy) {  // already measuring, try again<br>   
+tMeasure.enable();<br>    return;<br>  }<br>  pingTrigger(30); // 30
+milliseconds or max range of ~5.1 meters<br> 
+tMeasure.setCallback(&amp;measureCallbackWait);<br>}<br></font></font><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+Wait for the measurement to <br>void measureCallbackWait() {<br>  if
+(pulseBusy) return;<br>  tMeasure.setCallback(&amp;measureCallback); 
+<br>}<br><br><br>bool state = true;<br><br>void displayCallback() {<br>
+ char d[256];<br>   <br>  unsigned long cm = pingDistance * 17 / 100;
+// cm<br>  <br>  snprintf(d, 256, &quot;pulseStart =
 %8lu\tpulseStop=%8lu\tdistance, cm=%8lu&quot;, pulseStart, pulseStop,
-cm);<BR>  Serial.println(d);<BR>  <BR>}<BR><BR>void setup() {<BR>  //
-put your setup code here, to run once:<BR>  <BR> 
-Serial.begin(115200);<BR>  <BR><BR>  pTrigger = LOW;<BR>  pEcho =
-LOW;<BR>  <BR>}<BR><BR>void loop() {<BR>  // put your main code here,
-to run repeatedly:<BR>  r.execute();<BR>}<BR></FONT></FONT><BR>
-</P>
-<OL START=3>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-	<FONT FACE="Times New Roman, serif"><B>USING ONENABLE AND ONDISBALE
-	METHODS </B></FONT>
-	</P>
-</OL>
-<P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Consider
+cm);<br>  Serial.println(d);<br>  <br>}<br><br>void setup() {<br>  //
+put your setup code here, to run once:<br>  <br> 
+Serial.begin(115200);<br>  <br><br>  pTrigger = LOW;<br>  pEcho =
+LOW;<br>  <br>}<br><br>void loop() {<br>  // put your main code here,
+to run repeatedly:<br>  r.execute();<br>}<br></font></font><br>
+</p>
+<ol start="3">
+	<li><p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+	<font face="Times New Roman, serif"><b>USING ONENABLE AND ONDISBALE
+	METHODS </b></font>
+	</p>
+</ol>
+<p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif">Consider
 a task to flash onboard LED for 5 seconds with random frequency. Task
 should be repeated every 30 seconds indefinitely. Since frequency is
-random, there are two challenges:</FONT></P>
-<OL START=3>
-	<OL>
-		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
-		need to make sure LED is turned OFF at the last iteration</FONT></P>
-		<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif">We
-		need to calculate random frequency every time</FONT></P>
-	</OL>
-</OL>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif">Below
-is the implementation using TaskScheduler </FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><BR></FONT></FONT><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
-_TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
-&lt;TaskScheduler.h&gt;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
- LEDPIN    13</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
-ts;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-tWrapper(30000, TASK_FOREVER, &amp;WrapperCallback, &amp;ts, true);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
+random, there are two challenges:</font></p>
+<ol start="3">
+	<ol>
+		<li><p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">We
+		need to make sure LED is turned OFF at the last iteration</font></p>
+		<li><p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif">We
+		need to calculate random frequency every time</font></p>
+	</ol>
+</ol>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif">Below
+is the implementation using TaskScheduler </font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><br></font></font><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">#define
+_TASK_SLEEP_ON_IDLE_RUN</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">#include
+&lt;TaskScheduler.h&gt;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">#define
+ LEDPIN    13</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Scheduler
+ts;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+tWrapper(30000, TASK_FOREVER, &amp;WrapperCallback, &amp;ts, true);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
 tBlink(5000, TASK_ONCE, NULL, &amp;ts, false, &amp;BlinkOnEnable,
-&amp;BlinkOnDisable);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
+&amp;BlinkOnDisable);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
 tLED(TASK_IMMEDIATE, TASK_FOREVER, NULL, &amp;ts, false, NULL,
-&amp;LEDOff);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-WrapperCallback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
-WrapperCallback&quot;);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tBlink.restartDelayed();
-  // LED blinking  is initiated </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-            <FONT FACE="Courier New, monospace"><FONT SIZE=2>//every
-30 seconds for 5 seconds</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-Upon being enabled, tBlink will define the parameters</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-and enable LED blinking task, which actually controls</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-the hardware (LED in this example)</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
-BlinkOnEnable() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
-BlinkOnEnable&quot;);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setInterval(
-500 + random(501) );</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
-&amp;LEDOn);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.enable();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;  //
-Task should be enabled</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-tBlink does not really need a callback method</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-since it just waits for 5 seconds for the first </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-and only iteration to occur. Once the iteration</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-takes place, tBlink is disabled by the Scheduler, </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-thus executing its OnDisable method below.</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-BlinkOnDisable() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
-BlinkOnDisable&quot;);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.disable();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-LEDOn () {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
-LEDOn&quot;);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
-HIGH);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
-&amp;LEDOff);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-LEDOff () {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;In
-LEDOff&quot;);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>digitalWrite(LEDPIN,
-LOW);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tLED.setCallback(
-&amp;LEDOn);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-Note that LEDOff method serves as OnDisable method</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-to make sure the LED is turned off when the tBlink</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-task finishes (or disabled ahead of time)</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-setup() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);
-</FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>pinMode(LEDPIN,
-OUTPUT); </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-loop() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>// put your main
-code here, to run repeatedly:</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<OL START=3>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-	<FONT FACE="Times New Roman, serif"><B>USING STATUS REQUEST OBJECTS 
-	</B></FONT>
-	</P>
-</OL>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">This
+&amp;LEDOff);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+WrapperCallback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;In
+WrapperCallback&quot;);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tBlink.restartDelayed();
+  // LED blinking  is initiated </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+            <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//every
+30 seconds for 5 seconds</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+Upon being enabled, tBlink will define the parameters</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+and enable LED blinking task, which actually controls</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+the hardware (LED in this example)</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">bool
+BlinkOnEnable() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;In
+BlinkOnEnable&quot;);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tLED.setInterval(
+500 + random(501) );</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tLED.setCallback(
+&amp;LEDOn);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tLED.enable();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">return
+true;  // Task should be enabled</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+tBlink does not really need a callback method</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+since it just waits for 5 seconds for the first </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+and only iteration to occur. Once the iteration</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+takes place, tBlink is disabled by the Scheduler, </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+thus executing its OnDisable method below.</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+BlinkOnDisable() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;In
+BlinkOnDisable&quot;);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tLED.disable();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+LEDOn () {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;In
+LEDOn&quot;);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">digitalWrite(LEDPIN,
+HIGH);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tLED.setCallback(
+&amp;LEDOff);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+LEDOff () {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;In
+LEDOff&quot;);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">digitalWrite(LEDPIN,
+LOW);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tLED.setCallback(
+&amp;LEDOn);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+Note that LEDOff method serves as OnDisable method</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+to make sure the LED is turned off when the tBlink</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+task finishes (or disabled ahead of time)</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+setup() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.begin(115200);
+</font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">pinMode(LEDPIN,
+OUTPUT); </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+loop() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+put your main code here, to run repeatedly:</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">ts.execute();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<ol start="3">
+	<li><p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+	<font face="Times New Roman, serif"><b>USING STATUS REQUEST OBJECTS 
+	</b></font>
+	</p>
+</ol>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">This
 test emulates querying 3 sensors once every 10 seconds, each could
 respond with a different delay (ultrasonic sensors for instance) and
 printing a min value of the three when all three have reported their
-values.</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">The
-overall timeout of 1 second is setup as well.</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">An
+values.</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">The
+overall timeout of 1 second is setup as well.</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">An
 error message needs to be printed if a timeout occurred instead of a
-value.</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
-_TASK_SLEEP_ON_IDLE_RUN</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
-_TASK_STATUS_REQUEST</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
-&lt;TaskScheduler.h&gt;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>StatusRequest
-measure;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
-ts; </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-tCycle(10000, TASK_FOREVER, &amp;CycleCallback, &amp;ts, true);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
+value.</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">#define
+_TASK_SLEEP_ON_IDLE_RUN</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">#define
+_TASK_STATUS_REQUEST</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">#include
+&lt;TaskScheduler.h&gt;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">StatusRequest
+measure;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Scheduler
+ts; </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+tCycle(10000, TASK_FOREVER, &amp;CycleCallback, &amp;ts, true);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
 tMeasure(TASK_SECOND, TASK_ONCE, &amp;MeasureCallback, &amp;ts,
-false, &amp;MeasureEnable, &amp;MeasureDisable);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-tCalculate(&amp;CalcCallback, &amp;ts);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
+false, &amp;MeasureEnable, &amp;MeasureDisable);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+tCalculate(&amp;CalcCallback, &amp;ts);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
 tSensor1(TASK_IMMEDIATE, TASK_ONCE, &amp;S1Callback, &amp;ts, false,
-&amp;S1Enable);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
+&amp;S1Enable);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
 tSensor2(TASK_IMMEDIATE, TASK_ONCE, &amp;S2Callback, &amp;ts, false,
-&amp;S2Enable);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
+&amp;S2Enable);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
 tSensor3(TASK_IMMEDIATE, TASK_ONCE, &amp;S3Callback, &amp;ts, false,
-&amp;S3Enable);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>long
-distance, d1, d2, d3;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-CycleCallback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CycleCallback:
-Initiating measurement cycle every 10 seconds&quot;);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.restartDelayed();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
-MeasureEnable() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureEnable:
-Activating sensors&quot;);  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = 0;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.setWaiting(3);
-// Set the StatusRequest to wait for 3 signals. </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.waitFor(&amp;measure);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.restart();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.restart();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.restart();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-MeasureCallback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureCallback:
-Invoked by calculate task or one second later&quot;);  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>if
-(measure.pending()) {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="Courier New, monospace"><FONT SIZE=2>tCalculate.disable();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signalComplete(-1);
- // signal error</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureCallback:
-Timeout!&quot;);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>else {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;MeasureCallback:
-Min distance=&quot;);Serial.println(distance);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-MeasureDisable() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;MeasureDisable:
-Cleaning up&quot;);  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.disable();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.disable();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.disable();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-CalcCallback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;CalcCallback:
-calculating&quot;);  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = -1;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>if (
-measure.getStatus() &gt;= 0) {  // only calculate if statusrequest
-ended successfully</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = d1 &lt;
-d2 ? d1 : d2;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="Courier New, monospace"><FONT SIZE=2>distance = d3 &lt;
-distance ? d3 : distance;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
- <FONT FACE="Courier New, monospace"><FONT SIZE=2>tMeasure.forceNextIteration();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
-Simulation code for sensor 1</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
- ----------------------------</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
-S1Enable() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Enable:
-Triggering sensor1. Delay=&quot;);  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor1.setInterval(
+&amp;S3Enable);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">long
+distance, d1, d2, d3;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+CycleCallback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;CycleCallback:
+Initiating measurement cycle every 10 seconds&quot;);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tMeasure.restartDelayed();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">bool
+MeasureEnable() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;MeasureEnable:
+Activating sensors&quot;);  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">distance
+= 0;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">measure.setWaiting(3);
+// Set the StatusRequest to wait for 3 signals. </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tCalculate.waitFor(&amp;measure);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tSensor1.restart();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tSensor2.restart();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tSensor3.restart();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">return
+true;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+MeasureCallback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;MeasureCallback:
+Invoked by calculate task or one second later&quot;);  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">if
+(measure.pending()) {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tCalculate.disable();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">measure.signalComplete(-1);
+ // signal error</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;MeasureCallback:
+Timeout!&quot;);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">else
+{</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.print(&quot;MeasureCallback:
+Min distance=&quot;);Serial.println(distance);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+MeasureDisable() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;MeasureDisable:
+Cleaning up&quot;);  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tSensor1.disable();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tSensor2.disable();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tSensor3.disable();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+CalcCallback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;CalcCallback:
+calculating&quot;);  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">distance
+= -1;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">if
+( measure.getStatus() &gt;= 0) {  // only calculate if statusrequest
+ended successfully</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">distance
+= d1 &lt; d2 ? d1 : d2;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">distance
+= d3 &lt; distance ? d3 : distance;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+ <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tMeasure.forceNextIteration();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">/**
+Simulation code for sensor 1</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">*
+ ----------------------------</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">*/</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">bool
+S1Enable() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.print(&quot;S1Enable:
+Triggering sensor1. Delay=&quot;);  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tSensor1.setInterval(
 random(1200) );  // Simulating sensor delay, which could go over 1
-second and cause timeout</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = 0;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
-tSensor1.getInterval() );</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-S1Callback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S1Callback:
-Emulating measurement. d1=&quot;);  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>d1 = random(501); //
-pick a value from 0 to 500 &quot;centimeters&quot; simulating a
-measurement </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d1); </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
-Simulation code for sensor 2</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
- ----------------------------</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
-S2Enable() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Enable:
-Triggering sensor2. Delay=&quot;);  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor2.setInterval(
+second and cause timeout</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">d1
+= 0;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(
+tSensor1.getInterval() );</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">return
+true;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+S1Callback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.print(&quot;S1Callback:
+Emulating measurement. d1=&quot;);  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">d1
+= random(501); // pick a value from 0 to 500 &quot;centimeters&quot;
+simulating a measurement </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">measure.signal();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(d1);
+</font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">/**
+Simulation code for sensor 2</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">*
+ ----------------------------</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">*/</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">bool
+S2Enable() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.print(&quot;S2Enable:
+Triggering sensor2. Delay=&quot;);  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tSensor2.setInterval(
 random(1200) );  // Simulating sensor delay, which could go over 1
-second and cause timeout</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = 0;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
-tSensor2.getInterval() );</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-S2Callback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S2Callback:
-Emulating measurement. d2=&quot;);  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>d2 = random(501); //
-pick a value from 0 to 500 &quot;centimeters&quot; simulating a
-measurement</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d2); 
-</FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
-Simulation code for sensor 3</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
- ----------------------------</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>bool
-S3Enable() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Enable:
-Triggering sensor3. Delay=&quot;);  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>tSensor3.setInterval(
+second and cause timeout</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">d2
+= 0;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(
+tSensor2.getInterval() );</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">return
+true;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+S2Callback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.print(&quot;S2Callback:
+Emulating measurement. d2=&quot;);  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">d2
+= random(501); // pick a value from 0 to 500 &quot;centimeters&quot;
+simulating a measurement</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">measure.signal();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(d2);
+ </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">/**
+Simulation code for sensor 3</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">*
+ ----------------------------</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">*/</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">bool
+S3Enable() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.print(&quot;S3Enable:
+Triggering sensor3. Delay=&quot;);  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">tSensor3.setInterval(
 random(1200) );  // Simulating sensor delay, which could go over 1
-second and cause timeout</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = 0;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(
-tSensor3.getInterval() );</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>return true;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-S3Callback() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.print(&quot;S3Callback:
-Emulating measurement. d3=&quot;);  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>d3 = random(501); //
-pick a value from 0 to 500 &quot;centimeters&quot; simulating a
-measurement</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>measure.signal();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">  
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(d3); </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>/**
-Main Arduino code</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> <FONT FACE="Courier New, monospace"><FONT SIZE=2>*
- Not much is left here - everything is taken care of by the framework</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in">
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>*/</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-setup() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.begin(115200);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Serial.println(&quot;TaskScheduler
-StatusRequest Sensor Emulation Test. Complex Test.&quot;);  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>randomSeed(analogRead(A1)+millis());</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-loop() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>ts.execute();</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<OL START=3>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-	<FONT FACE="Times New Roman, serif"><B>USING LOCAL TASK STORAGE
-	POINTER  </B></FONT>
-	</P>
-</OL>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Tasks
+second and cause timeout</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">d3
+= 0;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(
+tSensor3.getInterval() );</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">return
+true;</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+S3Callback() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.print(&quot;S3Callback:
+Emulating measurement. d3=&quot;);  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">d3
+= random(501); // pick a value from 0 to 500 &quot;centimeters&quot;
+simulating a measurement</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">measure.signal();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">  
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(d3);
+</font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">/**
+Main Arduino code</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> <font face="Courier New, monospace"><font size="2" style="font-size: 10pt">*
+ Not much is left here - everything is taken care of by the framework</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in">
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">*/</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+setup() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.begin(115200);</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Serial.println(&quot;TaskScheduler
+StatusRequest Sensor Emulation Test. Complex Test.&quot;);  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">randomSeed(analogRead(A1)+millis());</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+loop() {</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">ts.execute();</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<ol start="3">
+	<li><p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+	<font face="Times New Roman, serif"><b>USING LOCAL TASK STORAGE
+	POINTER  </b></font>
+	</p>
+</ol>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">Tasks
 can store a pointer to specific variable, structure or array, which
 represents variables specific for a particular task. This may be
-needed if you plan to use same callback method for multiple tasks.</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Consider
+needed if you plan to use same callback method for multiple tasks.</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">Consider
 a scenario where you have several sensors of the same type. The
 actual process of triggering measurement and collecting information
 is identical. The only difference is the sensor address and a
-variable for storing the results.  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">In
+variable for storing the results.  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">In
 this case each of the tasks, which performs measurement will utilize
 the same callback methods. The only difference will be the variables
-(specific for each of the sensor). </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Let's
+(specific for each of the sensor). </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">Let's
 define a sensor data structure and declare a couple of variables (for
-2 sensors for instance)</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>typedef struct {</FONT></FONT></P>
-<P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>	unsigned int
-	address;</FONT></FONT></P>
-<P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>	unsigned
-long	distance;</FONT></FONT></P>
-<P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>} sensor_data;</FONT></FONT></P>
-<P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
-<BR>
-</P>
-<P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>sensor_data s1, s2; </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Two
-separate tasks are running to collect sensor data.</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">(Note
-that both tasks refer to the same callback methods)</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P LANG="" CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler ts;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><SPAN LANG="">Task
-t1(100, </SPAN>TASK_FOREVER<SPAN LANG="">, &amp;Measure, &amp;ts,
-false, &amp;MeasureOn); </SPAN></FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2><SPAN LANG="">Task
-t2(100, </SPAN>TASK_FOREVER<SPAN LANG="">, &amp;Measure, &amp;ts,
-false, &amp;MeasureOn); </SPAN></FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Assign
-pointers to the respective variables in the <B>setup</B>() method:</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-setup() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in">…</P>
-<P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>t1.setLtsPointer(&amp;s1);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>t2.setLtsPointer(&amp;s2);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 1.48in; margin-bottom: 0in">…</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Obtain
-reference to specific <B>sensor_data</B> structure inside the common
-callback method:</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-Measure() {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Task&amp;
-T = ts.currentTask(); </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Sensor_data&amp;
-V = *((sensor_data*) T.getLtsPointer());</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-For t1, V will be pointing at s1</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-For t2, V will be pointing at s2</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-Alternatively use the Scheduler method:</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	Sensor_data&amp;
-V1 = *((sensor_data*) ts.currentLts());</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; text-indent: 0.49in; margin-bottom: 0in">
-…</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>	V.distance
-= &lt;calculate your values here&gt;;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<OL START=3>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in; page-break-after: avoid">
-	<FONT FACE="Times New Roman, serif"><B>ENABLING TASK PRIORITIZATION 
-	</B></FONT>
-	</P>
-</OL>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
-<BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">In
+2 sensors for instance)</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p lang="en-US" class="western" style="margin-left: 0.98in; margin-bottom: 0in">
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">typedef
+struct {</font></font></p>
+<p lang="en-US" class="western" style="margin-left: 0.98in; margin-bottom: 0in">
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	unsigned
+int 	address;</font></font></p>
+<p lang="en-US" class="western" style="margin-left: 0.98in; margin-bottom: 0in">
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	unsigned
+long	distance;</font></font></p>
+<p lang="en-US" class="western" style="margin-left: 0.98in; margin-bottom: 0in">
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}
+sensor_data;</font></font></p>
+<p lang="en-US" class="western" style="margin-left: 0.98in; margin-bottom: 0in">
+<br>
+</p>
+<p lang="en-US" class="western" style="margin-left: 0.98in; margin-bottom: 0in">
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">sensor_data
+s1, s2; </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">Two
+separate tasks are running to collect sensor data.</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">(Note
+that both tasks refer to the same callback methods)</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p lang="en-US" class="western" style="margin-left: 0.98in; margin-bottom: 0in">
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Scheduler
+ts;</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><span lang="en-US">Task
+t1(100, </span></font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">TASK_FOREVER</font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><span lang="en-US">,
+&amp;Measure, &amp;ts, false, &amp;MeasureOn); </span></font></font>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><span lang="en-US">Task
+t2(100, </span></font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">TASK_FOREVER</font></font><font face="Courier New, monospace"><font size="2" style="font-size: 10pt"><span lang="en-US">,
+&amp;Measure, &amp;ts, false, &amp;MeasureOn); </span></font></font>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">Assign
+pointers to the respective variables in the </font></font><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt"><b>setup</b></font></font><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">()
+method:</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+setup() {</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 1.48in; margin-bottom: 0in">…</p>
+<p class="western" style="margin-left: 1.48in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">t1.setLtsPointer(&amp;s1);</font></font></p>
+<p class="western" style="margin-left: 1.48in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">t2.setLtsPointer(&amp;s2);</font></font></p>
+<p class="western" style="margin-left: 1.48in; margin-bottom: 0in">…</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">Obtain
+reference to specific </font></font><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt"><b>sensor_data</b></font></font><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">
+structure inside the common callback method:</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+Measure() {</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	Task&amp;
+T = ts.currentTask(); </font></font>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	Sensor_data&amp;
+V = *((sensor_data*) T.getLtsPointer());</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+For t1, V will be pointing at s1</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+For t2, V will be pointing at s2</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+Alternatively use the Scheduler method:</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	Sensor_data&amp;
+V1 = *((sensor_data*) ts.currentLts());</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; text-indent: 0.49in; margin-bottom: 0in">
+…</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">	V.distance
+= &lt;calculate your values here&gt;;</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<ol start="3">
+	<li><p class="western" style="margin-bottom: 0in; page-break-after: avoid">
+	<font face="Times New Roman, serif"><b>ENABLING TASK PRIORITIZATION 
+	</b></font>
+	</p>
+</ol>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in; page-break-after: avoid">
+<br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">In
 certain cases you want a task to be invoked before others in case of
 scheduling collision (tasks ready to be invoked at the same time). In
 a flat execution chain scenario tasks are evaluated for execution in
 the order they were added to the chain. Therefore a single task has
 to wait for the rest of the chain to be evaluated to get a chance
-again. </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Consider
+again. </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">Consider
 a scenario where a task taking gyroscope measurements has to be
 invoked as close to the actual scheduling time as possible. That is
-when task prioritization comes to help.  </FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">Let’s
+when task prioritization comes to help.  </font></font>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">Let’s
 say tasks t4 and t5 are taking measurements from gyroscope and
 accelerometer, and tasks t1, t2 and t3 are doing something less
-important.</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><FONT SIZE=2 STYLE="font-size: 11pt">This
-is how such setup is coded:</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#define
-_TASK_PRIORITY</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>#include
-&lt;TaskScheduler.h&gt;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Scheduler
-r, hpr;</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>//
-Tasks</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-t1(1000, TASK_FOREVER, &amp;tCallback, &amp;r);  //base priority</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-t2(2000, TASK_FOREVER, &amp;tCallback, &amp;r);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-t3(3000, TASK_FOREVER, &amp;tCallback, &amp;r);</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-t4(10, TASK_FOREVER, &amp;tCallback, &amp;hpr);  // higher priority</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Task
-t5(100, TASK_FOREVER, &amp;tCallback, &amp;hpr);  //higher priority</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">…</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>void
-setup () {</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in">  
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"> 
-…</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>r.setHighPriorityScheduler(&amp;hpr);
-</FONT></FONT>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"> 
-<FONT FACE="Courier New, monospace"><FONT SIZE=2>r.enableAll(true);
-// this will recursively enable the higher priority tasks as well</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.98in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>}</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<OL START=3>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT FACE="Times New Roman, serif"><B>FUTHER
-	INFROMATION</B></FONT></P>
-</OL>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Please
+important.</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Times New Roman, serif"><font size="2" style="font-size: 11pt">This
+is how such setup is coded:</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">#define
+_TASK_PRIORITY</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">#include
+&lt;TaskScheduler.h&gt;</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Scheduler
+r, hpr;</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">//
+Tasks</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+t1(1000, TASK_FOREVER, &amp;tCallback, &amp;r);  //base priority</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+t2(2000, TASK_FOREVER, &amp;tCallback, &amp;r);</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+t3(3000, TASK_FOREVER, &amp;tCallback, &amp;r);</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+t4(10, TASK_FOREVER, &amp;tCallback, &amp;hpr);  // higher priority</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Task
+t5(100, TASK_FOREVER, &amp;tCallback, &amp;hpr);  //higher priority</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">…</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">void
+setup () {</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in">  
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"> 
+…</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">r.setHighPriorityScheduler(&amp;hpr);
+</font></font>
+</p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"> 
+<font face="Courier New, monospace"><font size="2" style="font-size: 10pt">r.enableAll(true);
+// this will recursively enable the higher priority tasks as well</font></font></p>
+<p class="western" style="margin-left: 0.98in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">}</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<ol start="3">
+	<li><p class="western" style="margin-bottom: 0in"><font face="Times New Roman, serif"><b>FUTHER
+	INFROMATION</b></font></p>
+</ol>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Please
 refer to examples, provided with TaskScheduler package for further
-information and implementation options.</FONT></FONT></P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><BR>
-</P>
-<P CLASS="western" STYLE="margin-left: 0.49in; margin-bottom: 0in"><FONT FACE="Courier New, monospace"><FONT SIZE=2>Real
-time examples of TaskScheduler are available here:</FONT></FONT></P>
-<OL>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/APIS-Automated-Plant-Irrigation-System/"><FONT FACE="Courier New, monospace">http://www.instructables.com/id/APIS-Automated-Plant-Irrigation-System/</FONT></A></U></FONT></P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/Wave-your-hand-to-control-OWI-Robotic-Arm-no-strin/"><FONT FACE="Courier New, monospace">http://www.instructables.com/id/Wave-your-hand-to-control-OWI-Robotic-Arm-no-strin/</FONT></A></U></FONT></P>
-	<LI><P CLASS="western" STYLE="margin-bottom: 0in"><FONT COLOR="#0000ff"><U><A HREF="http://www.instructables.com/id/Arduino-Nano-based-Hexbug-Scarab-Robotic-Spider"><FONT FACE="Courier New, monospace">http://www.instructables.com/id/Arduino-Nano-based-Hexbug-Scarab-Robotic-Spider</FONT></A></U></FONT></P>
-</OL>
-<P CLASS="western" STYLE="margin-bottom: 0in"><BR>
-</P>
-<DIV TYPE=FOOTER>
-	<P STYLE="margin-top: 0.35in; margin-bottom: 0in">	<SDFIELD TYPE=PAGE SUBTYPE=RANDOM FORMAT=ARABIC>33</SDFIELD></P>
-</DIV>
-</BODY>
-</HTML>
+information and implementation options.</font></font></p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><br>
+</p>
+<p class="western" style="margin-left: 0.49in; margin-bottom: 0in"><font face="Courier New, monospace"><font size="2" style="font-size: 10pt">Real
+time examples of TaskScheduler are available here:</font></font></p>
+<ol>
+	<li><p class="western" style="margin-bottom: 0in"><font color="#0000ff"><u><a href="http://www.instructables.com/id/APIS-Automated-Plant-Irrigation-System/"><font face="Courier New, monospace">http://www.instructables.com/id/APIS-Automated-Plant-Irrigation-System/</font></a></u></font></p>
+	<li><p class="western" style="margin-bottom: 0in"><font color="#0000ff"><u><a href="http://www.instructables.com/id/Wave-your-hand-to-control-OWI-Robotic-Arm-no-strin/"><font face="Courier New, monospace">http://www.instructables.com/id/Wave-your-hand-to-control-OWI-Robotic-Arm-no-strin/</font></a></u></font></p>
+	<li><p class="western" style="margin-bottom: 0in"><font color="#0000ff"><u><a href="http://www.instructables.com/id/Arduino-Nano-based-Hexbug-Scarab-Robotic-Spider"><font face="Courier New, monospace">http://www.instructables.com/id/Arduino-Nano-based-Hexbug-Scarab-Robotic-Spider</font></a></u></font></p>
+</ol>
+<p class="western" style="margin-bottom: 0in"><br>
+</p>
+<div title="footer">
+	<p style="margin-top: 0.35in; margin-bottom: 0in">	<sdfield type=PAGE subtype=RANDOM format=ARABIC>33</sdfield></p>
+</div>
+</body>
+</html>
\ No newline at end of file
diff --git a/keywords.txt b/keywords.txt
index 8e81a2b..4ad052a 100644
--- a/keywords.txt
+++ b/keywords.txt
@@ -22,6 +22,7 @@ enableAll	KEYWORD2
 currentTask	KEYWORD2
 currentLts	KEYWORD2
 execute	KEYWORD2
+startNow	KEYWORD2
 allowSleep	KEYWORD2
 enable	KEYWORD2
 enableIfNot	KEYWORD2
diff --git a/library.properties b/library.properties
index 271698c..fb149bf 100644
--- a/library.properties
+++ b/library.properties
@@ -1,9 +1,9 @@
 name=TaskScheduler
-version=2.0.1
+version=2.1.0
 author=Anatoli Arkhipenko <arkhipenko@hotmail.com>
 maintainer=Anatoli Arkhipenko <arkhipenko@hotmail.com>
 sentence=A light-weight cooperative multitasking library for arduino microcontrollers.
-paragraph=Supports: periodic task execution (with dynamic execution period in milliseconds – frequency of execution), number of iterations (limited or infinite number of iterations), execution of tasks in predefined sequence, dynamic change of task execution parameters (frequency, number of iterations, callback methods), power saving via entering IDLE sleep mode when tasks are not scheduled to run, event-driven task invocation via Status Request object, task IDs and Control Points for error handling and watchdog timer, Local Task Storage pointer (allowing use of same callback code for multiple tasks), layered task prioritization.
+paragraph=Supports: periodic task execution (with dynamic execution period in milliseconds or microseconds – frequency of execution), number of iterations (limited or infinite number of iterations), execution of tasks in predefined sequence, dynamic change of task execution parameters (frequency, number of iterations, callback methods), power saving via entering IDLE sleep mode when tasks are not scheduled to run, event-driven task invocation via Status Request object, task IDs and Control Points for error handling and watchdog timer, Local Task Storage pointer (allowing use of same callback code for multiple tasks), layered task prioritization.
 category=Timing
 url=https://github.com/arkhipenko/TaskScheduler.git
 architectures=*
diff --git a/src/TaskScheduler.h b/src/TaskScheduler.h
index 8eea44b..e81212c 100644
--- a/src/TaskScheduler.h
+++ b/src/TaskScheduler.h
@@ -86,6 +86,7 @@
 //
 // v2.1.0:
 //    2016-02-01 - support for microsecond resolution
+//    2016-02-02 - added Scheduler baseline start time reset method: startNow()
 
 /* ============================================
 Cooperative multitasking library code is placed under the MIT license
@@ -114,7 +115,6 @@ THE SOFTWARE.
 
 #include <Arduino.h>
 
-
 #ifndef _TASKSCHEDULER_H_
 #define _TASKSCHEDULER_H_
 
@@ -141,22 +141,24 @@ THE SOFTWARE.
 	 
  #define _TASK_TIME_FUNCTION() millis()
  
- #endif
+ #endif  // _TASK_MICRO_RES
+ 
  
 #ifdef _TASK_SLEEP_ON_IDLE_RUN
 
 #ifdef ARDUINO_ARCH_AVR  
 #include <avr/sleep.h>
 #include <avr/power.h>
-#endif
+#endif  // ARDUINO_ARCH_AVR 
 
 #ifdef ARDUINO_ARCH_ESP8266
 extern "C" {
 #include "user_interface.h"
 }
-#endif
+#define _TASK_ESP8266_DLY_THRESHOLD	200L
+#endif  // ARDUINO_ARCH_ESP8266
 
-#endif
+#endif  // _TASK_SLEEP_ON_IDLE_RUN
 
 #define TASK_IMMEDIATE			0
 #define TASK_FOREVER		 (-1)
@@ -175,7 +177,7 @@ extern "C" {
 #define TASK_MINUTE	   60000000L
 #define TASK_HOUR	 3600000000L
 
-#endif
+#endif  // _TASK_MICRO_RES
 
 
 #ifdef _TASK_STATUS_REQUEST
@@ -197,7 +199,7 @@ class StatusRequest {
 		unsigned int	iCount;  					// number of statuses to wait for. waiting for more that 65000 events seems unreasonable: unsigned int should be sufficient
 		int			iStatus;  					// status of the last completed request. negative = error;  zero = OK; >positive = OK with a specific status
 };
-#endif
+#endif  // _TASK_STATUS_REQUEST
 
 
 typedef struct  {
@@ -213,7 +215,7 @@ class Scheduler;
 
 #ifdef _TASK_WDT_IDS
 	static unsigned int __task_id_counter = 0;		// global task ID counter for assiging task IDs automatically. 
-#endif
+#endif  // _TASK_WDT_IDS
 
 class Task {
     friend class Scheduler;
@@ -221,7 +223,7 @@ class Task {
 		Task(unsigned long aInterval=0, long aIterations=0, void (*aCallback)()=NULL, Scheduler* aScheduler=NULL, bool aEnable=false, bool (*aOnEnable)()=NULL, void (*aOnDisable)()=NULL);
 #ifdef _TASK_STATUS_REQUEST
 		Task(void (*aCallback)()=NULL, Scheduler* aScheduler=NULL, bool (*aOnEnable)()=NULL, void (*aOnDisable)()=NULL);
-#endif
+#endif  // _TASK_STATUS_REQUEST
 
 		void enable();
 		bool enableIfNot();
@@ -244,24 +246,24 @@ class Task {
 #ifdef _TASK_TIMECRITICAL
 		inline long getOverrun() { return iOverrun; }
 		inline long getStartDelay() { return iStartDelay; }
-#endif
+#endif  // _TASK_TIMECRITICAL
 		inline bool isFirstIteration() { return (iRunCounter <= 1); } 
 		inline bool isLastIteration() { return (iIterations == 0); }
 #ifdef _TASK_STATUS_REQUEST
 		void waitFor(StatusRequest* aStatusRequest, unsigned long aInterval = 0, long aIterations = 1);
 		void waitForDelayed(StatusRequest* aStatusRequest, unsigned long aInterval = 0, long aIterations = 1);
 		inline StatusRequest* getStatusRequest() {return iStatusRequest; }
-#endif
+#endif  // _TASK_STATUS_REQUEST
 #ifdef _TASK_WDT_IDS
 		inline void setId(unsigned int aID) { iTaskID = aID; }
 		inline unsigned int getId() { return iTaskID; }
 		inline void setControlPoint(unsigned int aPoint) { iControlPoint = aPoint; }
 		inline unsigned int getControlPoint() { return iControlPoint; }
-#endif
+#endif  // _TASK_WDT_IDS
 #ifdef _TASK_LTS_POINTER
 		inline void	setLtsPointer(void *aPtr) { iLTS = aPtr; }
 		inline void* getLtsPointer() { return iLTS; }
-#endif
+#endif  // _TASK_LTS_POINTER
 	
     private:
 		void reset();
@@ -273,7 +275,7 @@ class Task {
 #ifdef _TASK_TIMECRITICAL
 		volatile long			iOverrun; 			// negative if task is "catching up" to it's schedule (next invocation time is already in the past)
 		volatile long			iStartDelay;		// actual execution of the task's callback method was delayed by this number of millis
-#endif
+#endif  // _TASK_TIMECRITICAL
 		volatile long			iIterations;		// number of iterations left. 0 - last iteration. -1 - infinite iterations
 		long					iSetIterations; 		// number of iterations originally requested (for restarts)
 		unsigned long			iRunCounter;		// current number of iteration (starting with 1). Resets on enable. 
@@ -284,20 +286,20 @@ class Task {
 		Scheduler				*iScheduler;		// pointer to the current scheduler
 #ifdef _TASK_STATUS_REQUEST
 		StatusRequest			*iStatusRequest;	// pointer to the status request task is or was waiting on
-#endif
+#endif  // _TASK_STATUS_REQUEST
 #ifdef _TASK_WDT_IDS
 		unsigned int			iTaskID;			// task ID (for debugging and watchdog identification)
 		unsigned int			iControlPoint;		// current control point within the callback method. Reset to 0 by scheduler at the beginning of each pass
-#endif
+#endif  // _TASK_WDT_IDS
 #ifdef _TASK_LTS_POINTER
 		void					*iLTS;				// pointer to task's local storage. Needs to be recast to appropriate type (usually a struct).
-#endif
+#endif  // _TASK_LTS_POINTER
 };
 
 
 #ifdef _TASK_PRIORITY
 		static Scheduler* iCurrentScheduler;
-#endif
+#endif  // _TASK_PRIORITY
 
 class Scheduler {
 	friend class Task;
@@ -309,29 +311,30 @@ class Scheduler {
 		void disableAll(bool aRecursive = true);
 		void enableAll(bool aRecursive = true);
 		bool execute();			// Returns true if at none of the tasks' callback methods was invoked (true if idle run)
+		void startNow(bool aRecursive = true); 			// reset ALL active tasks to immediate execution NOW.
 		inline Task& currentTask() {return *iCurrent; }
 #ifdef _TASK_SLEEP_ON_IDLE_RUN
 		void allowSleep(bool aState = true);
-#endif
+#endif  // _TASK_SLEEP_ON_IDLE_RUN
 #ifdef _TASK_LTS_POINTER
 		inline void* currentLts() {return iCurrent->iLTS; }
-#endif
+#endif  // _TASK_LTS_POINTER
 #ifdef _TASK_TIMECRITICAL
 		inline bool isOverrun() { return (iCurrent->iOverrun < 0); }
-#endif
+#endif  // _TASK_TIMECRITICAL
 #ifdef _TASK_PRIORITY
 		void setHighPriorityScheduler(Scheduler* aScheduler);
 		static Scheduler& currentScheduler() { return *(iCurrentScheduler); };
-#endif
+#endif  // _TASK_PRIORITY
 
 	private:
 		Task	*iFirst, *iLast, *iCurrent;			// pointers to first, last and current tasks in the chain
 #ifdef _TASK_SLEEP_ON_IDLE_RUN
 		bool	iAllowSleep;						// indication if putting avr to IDLE_SLEEP mode is allowed by the program at this time. 
-#endif
+#endif  // _TASK_SLEEP_ON_IDLE_RUN
 #ifdef _TASK_PRIORITY
 		Scheduler *iHighPriority;					// Pointer to a higher priority scheduler
-#endif
+#endif  // _TASK_PRIORITY
 };
 
 
@@ -346,10 +349,10 @@ Task::Task( unsigned long aInterval, long aIterations, void (*aCallback)(), Sche
 	if (aScheduler) aScheduler->addTask(*this);
 #ifdef _TASK_STATUS_REQUEST
 	iStatusRequest = NULL;
-#endif
+#endif  // _TASK_STATUS_REQUEST
 #ifdef _TASK_WDT_IDS
 	iTaskID = ++__task_id_counter;
-#endif
+#endif  // _TASK_WDT_IDS
 	if (aEnable) enable();
 }
 
@@ -366,7 +369,7 @@ Task::Task( void (*aCallback)(), Scheduler* aScheduler, bool (*aOnEnable)(), voi
 	iStatusRequest = NULL;
 #ifdef _TASK_WDT_IDS
 	iTaskID = ++__task_id_counter;
-#endif
+#endif  // _TASK_WDT_IDS
 }
 
 /** Signals completion of the StatusRequest by one of the participating events
@@ -410,7 +413,7 @@ void Task::waitForDelayed(StatusRequest* aStatusRequest, unsigned long aInterval
 		enable();
 	}
 }
-#endif
+#endif  // _TASK_STATUS_REQUEST
 
 /** Resets (initializes) the task/
  * Task is not enabled and is taken out 
@@ -428,16 +431,16 @@ void Task::reset() {
 #ifdef _TASK_TIMECRITICAL
 	iOverrun = 0;
 	iStartDelay = 0;
-#endif
+#endif  // _TASK_TIMECRITICAL
 #ifdef _TASK_WDT_IDS
 	iControlPoint = 0;
-#endif
+#endif  // _TASK_WDT_IDS
 #ifdef _TASK_LTS_POINTER
 	iLTS = NULL;
-#endif
+#endif  // _TASK_LTS_POINTER
 #ifdef _TASK_STATUS_REQUEST
 	iStatus.waiting = 0;
-#endif
+#endif  // _TASK_STATUS_REQUEST
 }
 
 /** Explicitly set Task execution parameters
@@ -580,10 +583,10 @@ void Scheduler::init() {
 	iCurrent = NULL; 
 #ifdef _TASK_PRIORITY
 	iHighPriority = NULL;
-#endif
+#endif  // _TASK_PRIORITY
 #ifdef _TASK_SLEEP_ON_IDLE_RUN
 	allowSleep(true);
-#endif
+#endif  // _TASK_SLEEP_ON_IDLE_RUN
 }
 
 /** Appends task aTask to the tail of the execution chain.
@@ -651,8 +654,8 @@ void Scheduler::disableAll(bool aRecursive) {
 		current = current->iNext;
 	}
 #ifdef _TASK_PRIORITY
-	if (aRecursive && iHighPriority) iHighPriority->disableAll(aRecursive);
-#endif
+	if (aRecursive && iHighPriority) iHighPriority->disableAll(true);
+#endif  // _TASK_PRIORITY
 }
 
 
@@ -666,8 +669,8 @@ void Scheduler::disableAll(bool aRecursive) {
 		current = current->iNext;
 	}
 #ifdef _TASK_PRIORITY
-	if (aRecursive && iHighPriority) iHighPriority->enableAll(aRecursive);
-#endif
+	if (aRecursive && iHighPriority) iHighPriority->enableAll(true);
+#endif  // _TASK_PRIORITY
 }
 
 /** Sets scheduler for the higher priority tasks (support for layered task priority)
@@ -680,9 +683,9 @@ void Scheduler::setHighPriorityScheduler(Scheduler* aScheduler) {
 	if (iHighPriority) {
 		iHighPriority->allowSleep(false);		// Higher priority schedulers should not do power management
 	}
-#endif
+#endif  // _TASK_SLEEP_ON_IDLE_RUN
 };
-#endif
+#endif  // _TASK_PRIORITY
 
 
 #ifdef _TASK_SLEEP_ON_IDLE_RUN
@@ -691,12 +694,26 @@ void Scheduler::allowSleep(bool aState) {
 
 #ifdef ARDUINO_ARCH_ESP8266
 	wifi_set_sleep_type( iAllowSleep ? LIGHT_SLEEP_T : NONE_SLEEP_T );
-#endif
+#endif  // ARDUINO_ARCH_ESP8266
 
 }
-#endif
+#endif  // _TASK_SLEEP_ON_IDLE_RUN
 
 
+void Scheduler::startNow( bool aRecursive ) {
+	unsigned long t = _TASK_TIME_FUNCTION();
+	
+	iCurrent = iFirst;
+	while (iCurrent) {
+		if ( iCurrent->iStatus.enabled ) iCurrent->iPreviousMillis = t - iCurrent->iDelay;
+		iCurrent = iCurrent->iNext;
+	}
+	
+#ifdef _TASK_PRIORITY
+	if (aRecursive && iHighPriority) iHighPriority->startNow( true );
+#endif  // _TASK_PRIORITY
+}
+
 /** Makes one pass through the execution chain.
  * Tasks are executed in the order they were added to the chain
  * There is no concept of priority
@@ -710,7 +727,7 @@ bool Scheduler::execute() {
 #ifdef ARDUINO_ARCH_ESP8266
 	  unsigned long t1 = micros();
 	  unsigned long t2 = 0;
-#endif
+#endif  // ARDUINO_ARCH_ESP8266
 
 	iCurrent = iFirst;
 	
@@ -720,7 +737,7 @@ bool Scheduler::execute() {
 	// If scheduler for higher priority tasks is set, it's entire chain is executed on every pass of the base scheduler
 		if (iHighPriority) idleRun = iHighPriority->execute() && idleRun; 
 		iCurrentScheduler = this;
-#endif
+#endif  // _TASK_PRIORITY
 
 		do {
 			if ( iCurrent->iStatus.enabled ) {
@@ -728,7 +745,7 @@ bool Scheduler::execute() {
 #ifdef _TASK_WDT_IDS
 	// For each task the control points are initialized to avoid confusion because of carry-over:
 				iCurrent->iControlPoint = 0;
-#endif
+#endif  // _TASK_WDT_IDS
 	
 	// Disable task on last iteration:
 				if (iCurrent->iIterations == 0) {
@@ -752,7 +769,7 @@ bool Scheduler::execute() {
 					}
 					iCurrent->iStatus.waiting = 0;
 				}
-#endif
+#endif  // _TASK_STATUS_REQUEST
 
 				if ( m - iCurrent->iPreviousMillis < iCurrent->iDelay ) break;
 
@@ -766,7 +783,7 @@ bool Scheduler::execute() {
 				unsigned long p = iCurrent->iPreviousMillis;
 				iCurrent->iOverrun = (long) ( p + i - m );
 				iCurrent->iStartDelay = (long) ( m - p ); 
-#endif
+#endif  // _TASK_TIMECRITICAL
 
 				iCurrent->iDelay = i;
 				if ( iCurrent->iCallback ) {
@@ -789,15 +806,15 @@ bool Scheduler::execute() {
 	  
 	  /* The program will continue from here after the timer timeout ~1 ms */
 	  sleep_disable(); /* First thing to do is disable sleep. */
-#endif
+#endif // ARDUINO_ARCH_AVR
 
 #ifdef ARDUINO_ARCH_ESP8266
 // to do: find suitable sleep function for esp8266
 	  t2 = micros() - t1;
-	  if (t2 < 1000L) delay(1); 	// ESP8266 implementation of delay() uses timers and yield
-#endif
+	  if (t2 < _TASK_ESP8266_DLY_THRESHOLD) delay(1); 	// ESP8266 implementation of delay() uses timers and yield
+#endif  // ARDUINO_ARCH_ESP8266
 	}
-#endif
+#endif  // _TASK_SLEEP_ON_IDLE_RUN
 
 	return (idleRun);
 }