In order to get into RTOS, one must be aware of the OS fundamentals :- kernel, task scheduling, threads, multi-threading and multi-processing, priority, mutexes, semaphores, data passing, etc.
Bare-metal programming can be done in cases where number of tasks are limited and project is simple.
RTOS is designed in a way that it assigns a priority to each task so that it is executed in a deterministic manner.
RTOSs are categorized as hard-real time operating systems and soft-real time operating systems. When the penalty of a deadline miss is high, that system is a hard-real time operating system. For example, an airbag in a car. Any latency can be fatal in this case.
To know more, Go on to below link to get started. Everything is explained in a simpler manner.
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