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Thursday, 6 December 2012. CS RTOS port to ATmega32. CsRTOS is a priority-based co-operative scheduler that handles up to 8 tasks. This can be expanded to 16 tasks with little effort. All user tasks, including ones run as the result of an ISR are assigned a fixed priority at compile time. Semaphores are provided for protecting shared data. Corrected functions below thanks to curtvm.