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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.
...A PIC24EP running at 70MIPS has emulates a 65C02 running at about 6Mhz.
The example code configuration uses a copy of the BBC BASIC ROM image and a simulation of enough of the Acorn MOS to make the BASIC work using a serial UART connection.
Have you ever tried to control a self developed vehicle with your PC? This Project provides a GUi Controll, the schematics for the on board electroninc (including the xbee host) and the atmega 32 / 644 / 2550 software to get things work together.