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RTX166 Tiny User's Guide
Overview Real-Time Programs 
Theory of Operation 
Timer Tick Interrupt Tasks Task Management Events Task Scheduler Round-Robin Task Switching Cooperative Task Switching Stack Management Configuring RTX166 Tiny Using RTX166 Tiny Function ReferenceCooperative Task Switching
If you disable Round-Robin Multitasking, you must design and implement your tasks so they work cooperatively. Specifically, you must call the os_wait function. This function signals RTX166 Tiny to switch to another task.
The difference between os_wait and os_switch_task is that os_wait allows your task to wait for an event while os_switch_task switches to another ready task immediately.
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