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This is the Zi-RTOS project, which puts an implementation of Cooperative RTOS for embedded systems. The project also includes a some example of how using Zi-RTOS in your embedded systems.
This wiki is to support development of the Zi-RTOS core code and using it for embedded systems.
Zi-RTOS is a Cooperative multitasking or in other words it is a non-preemptive multitasking RTOS. Cooperative RTOSs are a style of computer multitasking in which the operating system never initiates a context switch from a running process to another process. Instead, in order to run multiple applications concurrently, processes voluntarily yield control periodically or when idle or logically blocked. This type of multitasking is called cooperative because all programs must cooperate for the scheduling scheme to work. for more information about Cooperative-RTOS refer to wikipedia