ChibiOS/RT

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ChibiOS/RT
Website	chibios.sourceforge.net
Programmed in	C, ASM
OS family	Real-time operating systems
Source model	Open Source
Latest stable release	0.6.5 / May 31, 2008
Supported platforms	Intel 80386, ARM7, ARM Cortex-M3, Atmel AVR, MSP430
Kernel type	Microkernel
License	GPL3
Working state	Current

ChibiOS/RT is a compact and fast real-time operating system supporting multiple architectures and released under the GPL3 license. The kernel supports:

Preemptive multithreading
128 priority levels
Round-robin scheduling for threads at the same priority level
Software Timers
Counting Semaphores
Mutexes with support for the Priority Inheritance algorithm
Messages
Event sources
Queues
Synchronous or asynchronous I/O with timeout capability

All the system objects, such as Threads, Semaphores, Timers etc, can be created/deleted at runtime. There is no upper limit except for the available memory. In order to increase the system reliability, the kernel architecture is entirely static, a memory allocator is not required (but allowed) and there are no data structures with upper size limits like tables or arrays. The system APIs are designed to not have error conditions such as error codes or exceptions.

The RTOS is designed for applications on embedded devices and includes demo applications for various micro controllers:

It is also possible to run the kernel into a Win32 process in a software I/O emulation mode, this allows to easily develop applications without have to use real hardware, an example for the MinGW compiler is included.