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RL-ARM User's Guide
RL-RTX Overview 
Product Description Product Specification Technical Data Timing Specifications Advantages 
Your First RTX Application 
Theory of Operation Timer Tick Interrupt System Task Manager Task Management Idle Task System Resources Scheduling Options Pre-emptive Scheduling Round-Robin Scheduling Cooperative Multitasking Priority Inversion Stack Management User Timers Interrupt Functions Configuring RTX Kernel Basic RTX Configuration Tasks Stack Size Stack Checking Run in Privileged Mode Hardware Timer Round-Robin Multitasking User Timers FIFO Queue Buffer Error Function Idle Task Advanced RTX Configuration HW Resources Required Configuration Macros Library Files Using RTX Kernel Writing Programs Include Files Defining Tasks Multiple Instances External References Using a Mailbox SWI Functions SVC Functions Debugging System Info Task Info Event Viewer Usage Hints ARM Version Cortex Version Create New RTX Application Function Reference Event Flag Management Routines Mailbox Management Routines Memory Allocation Routines Mutex Management Routines Semaphore Management Routines System Functions Task Management Routines Time Management Routines User Timer Management Routines 
RL-FlashFS 
RL-TCPnet RL-CAN RL-USB Example Programs Library Reference AppendixScheduling Options
RTX allows you to build an application with three different kernel-scheduling options. These are:
- Pre-emptive scheduling
Each task has a different priority and will run until it is pre-empted or has reached a blocking OS call. - Round-Robin scheduling
Each task has the same priority and will run for a fixed period, or time slice, or until has reached a blocking OS call. - Co-operative multi-tasking
Each task has the same priority and the Round-Robin is disabled. Each task will run until it reached a blocking OS call or uses the os_tsk_pass() call.
The default scheduling option for RTX is Round-Robin Pre-emptive. For most applications, this is the most useful option.
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