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For C (and CPP obviously):
Include a fast and tiny RAM-tracing feature for Real-Time (RT) debugging purposes.
>> ONLY FOR DEBUGGING <<
Very much faster than printf-debugging, which may result in unforseen results in an RT environement.
"µOS++" (micro OS plus plus) is an open source, royalty-free, real-time operating system intended for embedded systems built around ARM Cortex M or AVR devices. It is based on a preemptive scheduler written in C++ (more info in the Wiki).
Moebius Linux is a Raspberry PI armhf distribution built from scratch and targeted to have a small footprint. 20Mb of RAM (with ssh) and a 128Mb SD are minimum requirements. Size, speed and optimizations are main goals for this distro, take a look at it and contribute if you like it
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.
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