In an earlier post I'd mentioned that I'd written an RTOS in my spare time for fun and then incorporated a (slightly reworked) version of...

The first in a series of articles that builds up a coroutine-based RTOS for use primarily in memory-constrained embedded systems. Future articles will expound on other pieces of the RTOS after which the full, production-ready source will be published under my usual choice of the WTFPL2 license.