Scheduler internals

I see it this way: 3 priority Queues. Implemented using insertion sort. We hope nr_of_tasks is low (< 20?).

• idle tasks (ready to execute, position based on priority and last execution time) - every time tasks is changed the running task is inserted into queue,
• blocked (waiting for mutex) - when mutex becomes available the task is inserted into main queue and then scheduler is reevaluated.

Waiting for time internally can be done as waiting for mutex and in every tick waiting times for mutexes are decreased.