The processor implemented method 1, wherein {HEAD ~ the generating} of the program for the embedded processor includes generating the program for the embedded processor that invokes each peripheral function and each execution function in the order with a timing determined in {TAIL ~ response} to a timer interrupt of the embedded processor 
The processor implemented method 1 , wherein { HEAD ~ the generating } of the program for the embedded processor includes generating the program for the embedded processor that invokes each peripheral function and each execution function in the order with a timing determined in { TAIL ~ response } to a timer interrupt of the embedded processor
OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH