Multitasking and event handling

Hello Everyone,

It is unclear to me how a soft-device operates regarding multi-tasking and event-handling. I'm assuming Nordic engineers have their own real-time operating system in place for their soft-devices whereby tasks and events are executed based on some form of scheduling algorithm.

For an application, if one want to run multiple loops (tasks) at the same time, would starting the RTC timer and then running timer handlers at the desired sampling time constitute the best way to run multiple tasks in parallel? If so, are there any limitations on how many tasks one can run using the RTC? Lastly, is there a way to create one's own priority triggered event-handler, as opposed to continuous polling?

I'm also thinking towards using FreeRTOS to address the questions above, but at the moment not sure..., I appreciate any comments.

Best,

Roger