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Free, extremely simple, amazingly tiny and very fast real-time operating system (RTOS) designed for deeply embedded applications. Target: ARM Cortex-M, STM8. It was inspired by the concept of a state machine. Procedure executed by the task (task state) doesn't have to be noreturn-type. It will be executed into an infinite loop. There's a dedicated function for immediate change the task state.

...This permits to implement all the usual inter-task communication patterns. Please refer to the user guide and the diverse code samples for details. The second technical change is a complete revision of the makefile. It has been improved in many aspects and it now supports three host operating systems; the RTuinOS samples (as well as your applications) can be built under Linux, Windows and Mac OS. RTuinOS 1.0 is distributed as setup (a ZIP archive), which contains all source files and the complete documentation, also with source files. ...

The goal of the project is the realization of a modular firmware that allows to control a CNC machine with different utensils. For instance, a CNC with a drill, with few changes can become a plotter with a pen or cutting machine to cut cardboard or stickers. In order to do that, we want project a CNC router with a mechanism that allows a fast utensil change and a controlling firmware which can use different utensils changing some configuration parameters.