I'm unfamiliar with a bare-metal thread model that doesn't do preemption outside of a Runtime. I imagine you'd need to effectively inject code to do a cooperati

I'm unfamiliar with a bare-metal thread model that doesn't do preemption outside of a Runtime. I imagine you'd need to effectively inject code to do a cooperative switch as there aren't many ways for a cpu to exit it's current 'task' outside of an interrupt (pre-emption) or a defer call (cooroutines/async). For Runtimes it usually also means you effectively have a cooperative switch but it's hidden away in runtime code. Do you have an example?