Need suggestion to study, to grow in rtos.

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http://scmrtos.sourceforge.net/ScmRTOS
Very small footprint:
from 512 bytes of RAM
from ~1K code

Minimal process switching latency:
900 ns on Cortex-M4 @ 168 MHz
1.8 us on Blackfin @ 200 MHz
2.7 us on Cortex-M3 @ 72 MHz
5 us on ARM7 @ 50 MHz
38-42 us on AVR @ 8 MHz
45-50 us on MSP430 @ 5 MHz
18-20 us on STM8 @ 16 MHz
 

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