Timed cooperative multitask for tiny real-time embedded systems

The paper present alternative multitasking kernel algorithm used in tiny real-time embedded systems, microcontrollers. The paper first reviews the basics of realtime systems and traditional programming models used in embedded systems, like sequential programming model and traditional cooperative multitasking model. Greater part of article presents an alternative multitasking programming model, the timed cooperative multitasking. The authors take the reader through the process of kernel design based on timed cooperative multitasking model. The paper ends with demonstration of event-driven model used in timed cooperative multitasking model.