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Small real time operating system for AVR and ARM microcontrollers
...AvRtos provides message queues and semaphores for task synchronization. It uses a static memory allocation scheme.
AvRtos is nearly the smallest RTOS out there. Even pico]OS is much bigger.
AvRtos can be compiled using gcc compiler. There is a AvrStudio 4 and Eclipse project file to get the example code working very quickly.
pico]OS 1.0.4 was released 2012-07-12. This is a maintenance release that includes some bug fixes for the new ports for MSP430 and ARM Cortex-M.
You may also visit Ari's website that contains cool stuff related to pico]OS: http://stonepile.fi/tags/picoos/