If you don't want to pay the code size price of a RTOS or the execution speed price of a VM (which is what concurrency.cc uses), I warmly recommend cooperative tasking with coroutines: http://www.chiark.greenend.org.uk/~sgtatham/coroutines.html
This will cost you only a dozen bytes and half a dozen cycles per exit/re-entry point.
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If you don't want to pay the code size price of a RTOS or the execution speed price of a VM (which is what concurrency.cc uses), I warmly recommend cooperative tasking with coroutines: http://www.chiark.greenend.org.uk/~sgtatham/coroutines.html
This will cost you only a dozen bytes and half a dozen cycles per exit/re-entry point.
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