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freeRTOS for Arduino Uno, Goldilocks 1284p & Mega 2560
amforth is an extendible interpreter on microcontrollers
Open-source RTOS and Embedded Systems Toolkit for C++ and C
PRTOS is a simple, compact preemptive RTOS for embedded systems
Mulithreading Arduno library
Small real time operating system for AVR and ARM microcontrollers
Simple AVR OS