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A context switch in XNU, walked end to end
From the moment an interrupt fires to the moment a different thread is running on the core — trap, AST, thread_invoke, ASID switch, return.
machschedulercontext-switchkernel
The XNU scheduler: bands, QoS, and how Mach decides who runs
Real-time, fixed-priority, timeshare, idle — four scheduling classes, 128 priorities, and a QoS layer on top. Here's how XNU picks a thread to put on a core.
machschedulerqoskernel