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ChibiOS/RT is a free and efficient RTOS designed for deeply embedded applications. It offers a comprehensive set of kernel primitives and supports many architectures: ARM7, Cortex-M0, Cortex-M3, Cortex-M4, PowerPC e200z, STM8, AVR, MSP430, ColdFire, H8S, x86.
scmRTOS is tiny Real-Time Preemptive Operating System intended for use with Single-Chip Microcontrollers. scmRTOS is capable to run on small uCs with as little amount of RAM as 512 bytes. The RTOS is written on C++ and supports various platforms.