Hi Maryam

as I used RtKernel before I used RtLinux,
 there are probably thing to miss.
Part one is priority passing for semaphores.

Example; 
Running two tasks called HI and LO named like  their priorities.
LO grabs the semaphore (SEM) and gets interrupted by HI.
HI trys to grap the same SEM that LO allready has.
To get out of this quickly LO gets the HI priority 
to release the SEM as fast as possible.
When LO drops the SEM it looses the priority and HI will run.

Jens Michaelsen
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