force context switch

At every tick (1ms) on system the scheduler routine is executed, right? When I call taksYIELD() even if the 1ms hasn’t elapsed yet, a scheduler is executed so that a new ready thread start you execution, right? I mean, when taskYIELD() is called a context switch is done whether a tick is achieved or not, is that correct? Thank you, Breno

force context switch

Yes – that is correct.