aftermarket ecu etc...

[Dave Williams]

-> There is also no reason you can't "roll yer own" : use DOS (or
-> equivalent) to load your program image into memory, then grab all the
-> interrupts and the machine is yours.

 Tom Wagner's CTASK multitasking library for C does polled and
pre-emptive tasking under DOS.  Very small, more features than you can
shake a register at, thoroughly documented and debugged, widely used,
and free.  What more could you ask?
                               
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