Lpc2000

> Richard:
> Can you mix co-routines and tasks?
> Can you assign co-routines to a specific stack, say have two stacks, both
> hosting a different set of co-routines?

Take a look here: http://www.freertos.org/taskandcr.html, and
here: http://www.freertos.org/croutine.html.  I think this covers your 
questions.

My worry with adding co-routines was that having too many options would add 
to complexity, and one of the aims of FreeRTOS is to be simple.  I therefore 
tried to keep V4.0.0 backward compatible with V3.x.x - the use of 
co-routines being completely optional in an application 
(http://www.freertos.org/newforv3.html ignore the v3 in the url).

There is nothing to stop you mixing co-routines and tasks, but co-routines 
all run with the same stack, it is not alocatable.  You also cannot set a 
co-routine to pre-empt a task, only the other way around.  Co-routines 
basically run in the idle task.

This is the first version with co-routines - if they are popular then the 
implementation will be extended to include more features and be more 
flexible.

Regards,
Richard.

http://www.FreeRTOS.org
*Now for ARM CORTEX M3!*