Hi, I have 4 tasks, and the tasks changes only when the timetick ends, but I need to change the task1 to task3 or task4 for example. How do I do it? Regards, Víctor

Call taskYIELD()

Ok. But how taskYIELD’ll know that I want to call task3?

I need to change the task1 to task3 or task4 for example, before the timetick ends. I tryied to use goto, but it’s not working. Regards, Víctor

I think you have some significant misunderstandings of how the system is working and can only suggest you buy the book.

You don’t “call” tasks from other tasks. The tasks are running on their own for as long as they need to. If they have nothing to do, you block it and let the scheduler find another task that needs attention and on it goes.
For communication between tasks, use semaphores or queues.