The overall objective is to create a fixed thread scheduler for three real-time tasks and two non-real-time tasks. An implementation of the fixed scheduler developed in Section 5.5 can be found as the FixedScheduler example at http://www.ece.utexas.edu/~valvano/metrowerks/. First, you will create a second non-real-time thread similar to PAN, but using other I/O pins. Next, you will calculate the maximum time to execute each loop of the real-time threads. Then, you will develop a fixed scheduler with the following specification:

FSM period is 100 ms

PID period is 75 ms

DAS period is 10 ms

The swi handler should alternate starting the two non-real-time threads. You can use switches for inputs and LEDs for outputs so that you can interact with the system.