The context switch between tasks is done only in the following synchronization points:
●
● If there are other ready tasks - one of them (chosen in a round-robin manner) becomes current, while the calling task becomes ready. If there is no other task ready, the calling task continues its execution.
●
When a task issues a delay request by calling task_delay. The calling task then becomes delayed.
●
When a task calls a wait_for_event service. The calling task then becomes delayed.