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Open-source RTOS and Embedded Systems Toolkit for C++ and C
... or commercial RTOS' is written in C++, with bindings for C-language compatibility.
The carefully designed object model drastically reduces the overall size and complexity of the source code, leading to enhanced code reuse, stability, and modularity. It also makes the source easier to understand - any experienced C/C++ developer should be able to understand the relationship between objects in the system, as well as use and extend them to fit a given application.
OnPosix is a minimal C++ library that allows to speed-up development on embedded Posix platforms (e.g., Embedded Linux).
Code available at https://github.com/evidence/linux-onposix
The Bella Operating System aims to use currently available source code as a bootstrap to create a new "Media Operating System" primarily aimed at mid to upperlevel emebbed devices, such as Set Top Boxes and Pocket PCs.