A Survey of Task SchedulersThis technical paper provides an introduction to the subject of task scheduling in embedded systems software. It begins with a survey of simple home-made schedulers, and examines the point at which it is desirable to abandon home-made schedulers in favor of a full-fledged real-time operating system ("RTOS"). Then it introduces the concept of task preemption and priority-based preemptive scheduling, as used in off-the-shelf RTOSs. It ends with a glimpse into deadline scheduling for hard real-time systems.
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