RTEMS C User's Guide
RTEMS provides four mechanisms which allow the user to impact the task scheduling process:
Each of these methods provides a powerful capability to customize sets of tasks to satisfy the unique and particular requirements encountered in custom real-time applications. Although each mechanism operates independently, there is a precedence relationship which governs the effects of scheduling modifications. The evaluation order for scheduling characteristics is always priority, preemption mode, and timeslicing. When reading the descriptions of timeslicing and manual round-robin it is important to keep in mind that preemption (if enabled) of a task by higher priority tasks will occur as required, overriding the other factors presented in the description.
RTEMS C User's Guide
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