Thanks. That solved a headache. I'll keep up with the documentation to get any further updates. I think the power of this library is outstanding. Granted, you can't get the level of customization making your own ISR's, implementing your own stacks and queue's, and sorting based on an EDF (Earliest Deadline First) algorithm, but for ease-of-use, this takes the cake. Just a few questions, though. Does this library use RMS or EDF, or some other scheduling paradigm? Also, is there going to be support for semaphores or mutex's? Finally, how much overhead does the scheduler use - so I could, for instance, determine whether deadlines are guaranteed with the scheduler or not? Just some food for thought. Thanks for the help.