Hi Bahri,

In a previous post you had said that you want a cooperative scheduler. uC/OS uses a preemptive scheduler and I think Mike Koller's does also (I don't remember with absolute certainty). It's good to learn about the preemptive approach, but if you are trying to minimize complexity, preemptive is not what you'll want to attempt implementing.

Since you are learning, Chapter 2 "RTOS Fundamentals" of that free Salvo manual I referred to before discusses some of the basic issues of RTOS's in a manner that is largely independent of any particular RTOS, and also compares the "superloop" approach and the event-driven multitasking approach.

Regards,

--Dan Henry