The best link to start writing a very simple RTOS from scratch

I want to write a very basic RTOS that can simply switch between two tasks. This is not for professional use. Its just for fun

Most of the links talk about how to use RTOS, not how to write it.

Referring to open source RTOS, such as FreeRTOS, we will not understand the concept of the base.

One link found: Simple real-time operating systems

I would like to know if there is any other source that can become a kickstarter for those who want to write RTOS from scratch.

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MicroC/OS-II: . MicroC/OS-III, ( , MicroC/OS-III / ).

RTOS MicroC/OS ​​ ( μC/OS) RTF/. ( , ).

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