Based on STM32, explaining task switching, given in detail with reference to the compilation, and complete a simple operating system, task scheduling, is very good for entry-OS, read this, follow others such as FreeRTOS are similar principle.

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一步步写STM32 OS【二】环境搭建 - sky1991 - 博客园.pdf
一步步写STM32 OS【三】PendSV与堆栈操作 - sky1991 - 博客园.pdf
一步步写STM32 OS【四】OS基本框架 - sky1991 - 博客园.pdf
一步步写STM32 OS【一】 序言 - sky1991 - 博客园.pdf

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