'RTOS - the moment of preemption
Let's say we have an situation in FreeRTOS environment, where one task went into blocked state (cause of lack of mutex or just "delay" function with timeout). Next comes the event, that is moving this task from Blocked state to Ready state. Then the RTOS need to check, if the priority of task is higher than current one, and switch the context if necessary. My question is - when does the RTOS check it - does it occur onle when scheduler is getting CPU time (for example every "tick", that is 1ms)? Or it is maybe done like interrupt (hardware or software) does it?
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