Looking to build a simple preemptive RTOS for fun!

Hey guys, I'm Looking to build a simple preemptive RTOS for fun! Any resources to get started on the core concepts of task switching between two threads, besides "Simple Real-Time Operating Systems"?
@Middleware & OS
Solution
@Dtynin Try to implement a preemptive scheduler that can interrupt lower-priority tasks to run higher-priority tasks. This scheduler Will ensure that the critical tasks are executed in a timely manner.
Then, apply a kernel that manages the tasks and their execution. Check these points out,I believe it will be helpful to your project.
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