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</style><table class="infobox vevent"><tbody><tr><th colspan="2" class="infobox-above" style="background-color: #e0e0e0;">OpenComRTOS</th></tr><tr><td colspan="2" class="infobox-image"><span typeof="mw:File"></span><div class="infobox-caption">OpenComRTOS application view</div></td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;"><a href="Programmer" title="Programmer">Developer</a></th><td class="infobox-data">Altreonic NV</td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;"><a href="Programming_language" title="Programming language">Written in</a></th><td class="infobox-data"><a href="ANSI_C" title="ANSI C">ANSI C</a></td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;">OS family</th><td class="infobox-data"><a href="Distributed_computing" title="Distributed computing">Distributed</a> <a href="Microkernel" title="Microkernel">microkernel</a></td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;">Working state</th><td class="infobox-data">Current</td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;">Source model</th><td class="infobox-data">Source-available, license</td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;">Initial release</th><td class="infobox-data">2008<span style="display:none"> (<span class="bday dtstart published updated">2008</span>)</span></td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;"><a href="Software_release_life_cycle" title="Software release life cycle">Latest release</a></th><td class="infobox-data">1.6 / August 2014<span style="display:none"> (<span class="bday dtstart published updated">2014-08</span>)</span></td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;">Marketing target</th><td class="infobox-data"><a href="Embedded_system" title="Embedded system">Embedded systems</a></td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;">Available in</th><td class="infobox-data">English</td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;"><a href="Package_manager" title="Package manager">Package manager</a></th><td class="infobox-data">OpenComRTOS suite msi file</td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;">Supported platforms</th><td class="infobox-data"><a href="Freescale" class="mw-redirect" title="Freescale">Freescale</a> <a href="PowerPC" title="PowerPC">PowerPC</a>, <a href="Texas_Instruments" title="Texas Instruments">Texas Instruments</a> C66xxx <a href="Digital_signal_processor" title="Digital signal processor">DSP</a>, <a href="ARM_architecture" class="mw-redirect" title="ARM architecture">ARM</a>, <a href="XMOS" title="XMOS">XMOS</a>, <a href="MicroBlaze" title="MicroBlaze">MicroBlaze</a>, <a href="LEON" title="LEON">LEON</a>, <a href="NXP_Semiconductors" title="NXP Semiconductors">NXP</a> CoolFlux <a href="Digital_signal_processor" title="Digital signal processor">DSP</a>, <a href="X-Fab" title="X-Fab">Melexis</a> MLX16, <a href="Win32" class="mw-redirect" title="Win32">Win32</a>, <a href="Linux" title="Linux">Linux</a></td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;"><a href="Kernel_(operating_system)" title="Kernel (operating system)">Kernel</a> type</th><td class="infobox-data">network-centric real-time <a href="Message_passing" title="Message passing">message passing</a> <a href="Microkernel" title="Microkernel">microkernel</a></td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;"><a href="User_interface" title="User interface">Default<br>user interface</a></th><td class="infobox-data">Development environment on host machine</td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;"><a href="Software_license" title="Software license">License</a></th><td class="infobox-data">Binary, source, open technology</td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;">Preceded by</th><td class="infobox-data">Virtuoso</td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;">Succeeded by</th><td class="infobox-data">VirtuosoNext</td></tr><tr><th scope="row" class="infobox-label" style="white-space: nowrap;">Official website</th><td class="infobox-data"><span class="url"><a rel="nofollow" class="external text" href="http://www.altreonic.com">www<wbr>.altreonic<wbr>.com</a></span></td></tr></tbody></table>

<p><b>OpenComRTOS</b> is a commercial network-centric, formally developed <a href="Real-time_operating_system" title="Real-time operating system">real-time operating system</a> (RTOS), aimed mainly at the <a href="Embedded_system" title="Embedded system">embedded system</a> market.

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<div class="mw-heading mw-heading2"><h2 id="Overview">Overview</h2></div>

<p>OpenComRTOS was developed using <a href="Formal_methods" title="Formal methods">formal methods</a>. It has features like the ability to support heterogeneous multi-processor systems transparently, independent of the processor <a href="Word_(computer_architecture)" title="Word (computer architecture)">word</a> size (<a href="16-bit_computing" title="16-bit computing">16-bit</a>, <a href="24-bit_computing" title="24-bit computing">24-bit</a>, <a href="32-bit_computing" title="32-bit computing">32-bit</a>, <a href="64-bit_computing" title="64-bit computing">64-bit</a>), and the communication medium (shared memory, buses, point-to-point links or virtual links on extant communication mechanisms). Typical code size on a 32-bit target processor is about 5 KiBytes.

</p><p>OpenComRTOS is based on the meta-modelling paradigm of <i>Interacting Entities</i>. In the RTOS, the unit of execution is a <i>Task</i> (a function with its local workspace or stack). Task entities synchronise and communicate using intermediate <i>Hubs</i> entities that are decoupled from the interacting Tasks. Hubs are formally modelled as <i>Guarded Actions</i>. The current implementation provides the functions of traditional RTOS services like <i>events, semaphores, ports, first in first out (<a href="FIFO_(computing_and_electronics)" title="FIFO (computing and electronics)">FIFO</a>) stacks, resources, packet pools, and memory pools</i>. The user can also create custom Hub types.

</p><p>OpenComRTOS uses a uniform architecture with a <a href="Kernel_(operating_system)" title="Kernel (operating system)">kernel</a> Task, driver Tasks, and application Tasks, each having a Task input Port. The same interface is used for the Interrupt Service Routines. The underlying architecture relies on the use of prioritised <i><a href="Packet_switching" title="Packet switching">packet switching</a></i> with communication and routing being part of the underlying system services. One of the results is that the source code of the Tasks is independent of the mapping of Tasks and Hubs to the processing nodes in the target system.

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<div class="mw-heading mw-heading2"><h2 id="History">History</h2></div>

<p>The initial purpose for developing OpenComRTOS was to provide a software runtime environment supporting a coherent and unified systems engineering methodology based on <i>Interacting Entities</i>. This was originally developed by the Open License Society<sup id="cite_ref-1" class="reference"><a href="#cite_note-1"><span class="cite-bracket">[</span>1<span class="cite-bracket">]</span></a></sup> since 2005, and since 2008 further developed and commercialised by Altreonic.<sup id="cite_ref-2" class="reference"><a href="#cite_note-2"><span class="cite-bracket">[</span>2<span class="cite-bracket">]</span></a></sup> A formerly developed RTOS named Virtuoso<sup id="cite_ref-Verhulst93a_3-0" class="reference"><a href="#cite_note-Verhulst93a-3"><span class="cite-bracket">[</span>3<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-Verhulst93b_4-0" class="reference"><a href="#cite_note-Verhulst93b-4"><span class="cite-bracket">[</span>4<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-Verhulst1997a_5-0" class="reference"><a href="#cite_note-Verhulst1997a-5"><span class="cite-bracket">[</span>5<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-Verhulst97b_6-0" class="reference"><a href="#cite_note-Verhulst97b-6"><span class="cite-bracket">[</span>6<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-Verhulst2002a_7-0" class="reference"><a href="#cite_note-Verhulst2002a-7"><span class="cite-bracket">[</span>7<span class="cite-bracket">]</span></a></sup> served as a guideline. Virtuoso is a distributed RTOS, developed by Eonic Systems until the technology was sold to Wind River Systems in 2001. Its overall functionality of transparent parallel processing (called the <i>Virtual Single Processor</i> runtime model) was a major driving force to redevelop it in a better way.<sup id="cite_ref-Verhulst,_E._and_De_Jong,_G._8-0" class="reference"><a href="#cite_note-Verhulst,_E._and_De_Jong,_G.-8"><span class="cite-bracket">[</span>8<span class="cite-bracket">]</span></a></sup><sup id="cite_ref-Verhulst,_E.,_de_Jong,_G.,_and_Mezhuyev,_V._(2008)_9-0" class="reference"><a href="#cite_note-Verhulst,_E.,_de_Jong,_G.,_and_Mezhuyev,_V._(2008)-9"><span class="cite-bracket">[</span>9<span class="cite-bracket">]</span></a></sup> OpenComRTOS is conceptually a fourth generation of Virtuoso although it was a clean room development. The Virtuoso RTOS had its origin in the pioneering <a href="Inmos" title="Inmos">Inmos</a> <a href="Transputer" title="Transputer">Transputer</a>, a partial hardware implementation of <a href="C.A.R._Hoare" class="mw-redirect" title="C.A.R. Hoare">C.A.R. Hoare</a>'s <a href="Communicating_sequential_processes" title="Communicating sequential processes">communicating sequential processes</a> (CSP) process algebra.

Most challenging applications:

</p>

<ol><li><a href="Oil_exploration" class="mw-redirect" title="Oil exploration">Oil exploration</a> system with 12,000 processors featuring microcontrollers, fixed point and floating point DSPs and a Linux host in a single network.</li>

<li>Sonar system with 1,600 floating point DSPs.</li>

<li>Rosetta and Giotto ESA space missions.</li>

<li>Converting a 400,000 lines application running on a Portable Operating System Interface (<a href="POSIX" title="POSIX">POSIX</a>) style RTOS to OpenComRTOS.</li></ol>

<div class="mw-heading mw-heading2"><h2 id="Formal_development_approach">Formal development approach</h2></div>

<p>For the development of OpenComRTOS a systematic but iterative engineering process was followed. Requirements and specifications being defined, models were developed in <a href="Leslie_Lamport" title="Leslie Lamport">Leslie Lamport</a>'s <a href="Temporal_logic_of_actions" title="Temporal logic of actions">temporal logic of actions</a> (TLA+) and then <a href="Model_checking" title="Model checking">model checked</a> with the corresponding TLC model checker. Based on these models, the code was written and then a third person created new models in TLA+ to verify that the implementation was still isomorphic. The timer and associated time-out functionality for services were model checked using the <a href="Uppaal_Model_Checker" title="Uppaal Model Checker">Uppaal Model Checker</a>. In 2011 Springer published the book on the OpenComRTOS project.<sup id="cite_ref-Springer_Book_10-0" class="reference"><a href="#cite_note-Springer_Book-10"><span class="cite-bracket">[</span>10<span class="cite-bracket">]</span></a></sup>

</p>

<div class="mw-heading mw-heading2"><h2 id="OpenComRTOS_Designer:_development_environment_and_tools">OpenComRTOS Designer: development environment and tools</h2></div>

<p>OpenComRTOS comes with many tools. <i>Visual Designer</i> is a visual modelling environment whereby the user specifies node topology and application topology graphically. From these diagrams, an application specific runtime model is generated. Application specific code is provided in ANSI C for each task. Runtime execution, and interprocessor interactions, are visualised using the <i>Event Tracer</i>. A <i>System Inspector</i> allows reading out and modifying the data structures.

Further modules are hostserver modules (these allow any task access to the host node services) and a <i>Safe Virtual Machine for C</i>. The latter requires about 3 KiBytes (10 KiBytes for program and data) and allows dynamically downloading binary-compiled C code at runtime.

</p>

<div class="mw-heading mw-heading2"><h2 id="Portability">Portability</h2></div>

<p>OpenComRTOS was developed for embedded systems and is written in portable <a href="ANSI_C" title="ANSI C">ANSI C</a>, except the context switch and ISR interfaces.

OpenComRTOS has been ported to the following targets:

<i>Freescale PowerPC, Texas Instruments C66xx DSP, Melexis MLX16, ARM Cortex M3/4, Xilinx MicroBlaze, LEON3, NXP CoolFlux DSP and to MS-Windows and Linux.</i> The latter versions allow transparent integration of host nodes and serve as well cross development and simulation systems. As the RTOS kernel is identical for single or multi-processor nodes, supporting a multi-processor system requires only to write a small task level driver that can send and receives Packets.

</p><p>OpenComRTOS is made available in binary, source code and Open Technology licenses. The latter provides formal models, design documents, source code and test suites.

</p>

<ul><li><a href="Comparison_of_real-time_operating_systems" title="Comparison of real-time operating systems">Comparison of real-time operating systems</a></li></ul>

<div class="mw-heading mw-heading2"><h2 id="References">References</h2></div>

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</style><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://www.openlicensesociety.org">"Open License Society"</a>.</cite></span>

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<li id="cite_note-2"><span class="mw-cite-backlink"><b><a href="#cite_ref-2">^</a></b></span> <span class="reference-text"><cite class="citation web cs1"><a rel="nofollow" class="external text" href="http://www.altreonic.com/">"www.altreonic.com | From Deep Space to Deep Sea"</a>. <i>www.altreonic.com</i><span class="reference-accessdate">. Retrieved <span class="nowrap">29 April</span> 2023</span>.</cite></span>

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<li id="cite_note-Verhulst93a-3"><span class="mw-cite-backlink"><b><a href="#cite_ref-Verhulst93a_3-0">^</a></b></span> <span class="reference-text"><cite id="CITEREFVerhulst2003" class="citation book cs1">Verhulst, Eric (2003). "Beyond the von Neumann machine: communication as the driving design paradigm for MP-SOC from software to hardware". In Jantsch, Axel; Tenhunen, Hannu (eds.). <i>Networks on chip</i>. Hingham, Massachusetts, United States: Kluwer Academic Publishers. pp. <span class="nowrap">217–</span>238. <a href="Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<a rel="nofollow" class="external text" href="https://doi.org/10.1007%2Fb105353">10.1007/b105353</a>. <a href="ISBN_(identifier)" class="mw-redirect" title="ISBN (identifier)">ISBN</a> <bdi>978-1-4020-7392-2</bdi>. <a href="S2CID_(identifier)" class="mw-redirect" title="S2CID (identifier)">S2CID</a> <a rel="nofollow" class="external text" href="https://api.semanticscholar.org/CorpusID:19233943">19233943</a>.</cite></span>

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<li id="cite_note-Verhulst93b-4"><span class="mw-cite-backlink"><b><a href="#cite_ref-Verhulst93b_4-0">^</a></b></span> <span class="reference-text">E. Verhulst. "Virtuoso: providing sub-microsecond context switching on dsps with a dedicated nanokernel". <i>International conference on signal processing applications and technology</i>, Santa Clara, September 1993.</span>

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<li id="cite_note-Verhulst1997a-5"><span class="mw-cite-backlink"><b><a href="#cite_ref-Verhulst1997a_5-0">^</a></b></span> <span class="reference-text">E. Verhulst. "Beyond transputing: fully distributed semantics in Virtuoso’s Virtual Single Processor programming model and its implementation on of-the-shelf parallel DSPs". In <i>Proceedings of WoTUG-20: Parallel Programming and Java</i>, 1997, pages 77–86.</span>

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<li id="cite_note-Verhulst97b-6"><span class="mw-cite-backlink"><b><a href="#cite_ref-Verhulst97b_6-0">^</a></b></span> <span class="reference-text">E. Verhulst. "Non-sequential processing: bridging the semantic gap left by the von Neumann architecture". In <i>Signal Processing Systems SIPS’97</i>, pages 35–49.</span>

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<li id="cite_note-Verhulst2002a-7"><span class="mw-cite-backlink"><b><a href="#cite_ref-Verhulst2002a_7-0">^</a></b></span> <span class="reference-text">E. Verhulst. "The rationale for distributed semantics as a topology independent embedded systems design methodology and its implementation in the Virtuoso RTOS". <i>Design Automation for Embedded Systems</i>, 2002, 6:277–294. <a href="Doi_(identifier)" class="mw-redirect" title="Doi (identifier)">doi</a>:<a rel="nofollow" class="external text" href="https://doi.org/10.1023%2FA%3A1014018820691">10.1023/A:1014018820691</a>.</span>

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<li id="cite_note-Verhulst,_E._and_De_Jong,_G.-8"><span class="mw-cite-backlink"><b><a href="#cite_ref-Verhulst,_E._and_De_Jong,_G._8-0">^</a></b></span> <span class="reference-text">E. Verhulst, G. de Jong. "OpenComRTOS: an ultra-small network centric embedded RTOS designed using formal modeling". In <i>Proceedings of the 13th international SDL Forum conference on Design for dependable systems, SDL’07</i>, pages 258–271, Berlin, Heidelberg. Springer-Verlag.</span>

</li>

<li id="cite_note-Verhulst,_E.,_de_Jong,_G.,_and_Mezhuyev,_V._(2008)-9"><span class="mw-cite-backlink"><b><a href="#cite_ref-Verhulst,_E.,_de_Jong,_G.,_and_Mezhuyev,_V._(2008)_9-0">^</a></b></span> <span class="reference-text">Eric Verhulst, Gjalt de Jong, Vitaliy Mezhuyev. "An industrial case: Pitfalls and benefits of applying formal methods to the development of a network-centric RTOS". In Cuellar, J., Maibaum, T., and Sere, K., editors, <i>FM 2008: Formal Methods</i>, volume 5014 of Lecture Notes in Computer Science, pages 411–418. Springer: Berlin, Heidelberg.</span>

</li>

<li id="cite_note-Springer_Book-10"><span class="mw-cite-backlink"><b><a href="#cite_ref-Springer_Book_10-0">^</a></b></span> <span class="reference-text"><a rel="nofollow" class="external text" href="https://www.springer.com/engineering/circuits+%26+systems/book/978-1-4419-9735-7?changeHeader">Formal Development of a Network-Centric RTOS: Software Engineering for Reliable Embedded Systems</a> by Eric Verhulst, Raymond T. Boute, José Miguel Sampaio Faria and Bernhard H.C. Sputh (<a href="ISBN_(identifier)" class="mw-redirect" title="ISBN (identifier)">ISBN</a> <bdi>978-1-4419-9735-7</bdi>) 1st Edition., 2011, XVII, 219 p. 54 illus</span>

</li>

</ol></div></div>

<div class="mw-heading mw-heading2"><h2 id="External_links">External links</h2></div>

<ul><li><span class="official-website"><span class="url"><a rel="nofollow" class="external text" href="http://www.altreonic.com">Official website</a></span></span>, Altreonic</li></ul>

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</style><div id="Real-time_operating_systems_(RTOS)556" style="font-size:114%;margin:0 4em"><a href="Real-time_operating_system" title="Real-time operating system">Real-time operating systems</a> (RTOS)</div></th></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Operating_system" title="Operating system">Operating<br>systems</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em"></div><table class="nowraplinks navbox-subgroup" style="border-spacing:0"><tbody><tr><th scope="row" class="navbox-group" style="width:1%"><a href="POSIX" title="POSIX">POSIX</a> support</th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em"></div><table class="nowraplinks navbox-subgroup" style="border-spacing:0"><tbody><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Unix-like" title="Unix-like">Unix-like</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<li><a href="Junos_OS" title="Junos OS">Junos OS</a></li>

<li><a href="LynxOS" title="LynxOS">LynxOS</a></li>

<li><i><a href="Multi-Environment_Real-Time" title="Multi-Environment Real-Time">Multi-Environment Real-Time</a></i>^ (<i>MERT</i> – <i>Unix-RT</i>)</li>

<li><a href="Real-Time_Linux" class="mw-redirect" title="Real-Time Linux">Real-Time Linux</a>°</li>

<li><a href="RTLinux" title="RTLinux">RTLinux</a>°</li>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="LiteOS" title="LiteOS">LiteOS</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><i><a href="LiteOS" title="LiteOS">LiteOS</a></i>°</li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Partial</th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><i><a href="ChorusOS" title="ChorusOS">ChorusOS</a></i>^</li>

<li><a href="Integrity_(operating_system)" title="Integrity (operating system)">Integrity</a>^</li>

<li><a href="Nucleus_RTOS" title="Nucleus RTOS">Nucleus RTOS</a>^</li>

<li><a href="NuttX" title="NuttX">NuttX</a>^°</li>

<li><a href="Operating_System_Embedded" class="mw-redirect" title="Operating System Embedded">Operating System Embedded</a>^ (OSE)</li>

<li><a href="RTEMS" title="RTEMS">RTEMS</a>°</li></ul>

</div></td></tr></tbody></table><div></div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="TRON_project" title="TRON project">TRON</a> support</th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em"></div><table class="nowraplinks navbox-subgroup" style="border-spacing:0"><tbody><tr><td colspan="2" class="navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="ITRON_project" title="ITRON project">ITRON project</a></li>

<li><a href="T-Kernel" title="T-Kernel">T-Kernel</a>

<ul><li><a href="Micro_T-Kernel" title="Micro T-Kernel">Micro T-Kernel</a></li>

<li><a href="T-Engine_Forum" title="T-Engine Forum">T-Engine Forum</a> (organization)</li>

<li><a href="T-License" title="T-License">T-License</a></li></ul></li></ul>

<li><i><a href="RTEMS" title="RTEMS">RTEMS</a>°</i></li></ul>

</div></td></tr></tbody></table><div></div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Capability-based_security" title="Capability-based security">Capability-based</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Java_virtual_machine" title="Java virtual machine">Java virtual machine</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><i><a href="JavaOS#Chorus/Jazz" title="JavaOS">Chorus/Jazz</a></i>^ (<i><a href="JavaOS" title="JavaOS">JavaOS</a></i> + <i><a href="ChorusOS" title="ChorusOS">ChorusOS</a></i>^)</li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="DOS" title="DOS">DOS</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><i><a href="Multiuser_DOS" title="Multiuser DOS">Multiuser DOS</a></i>

<ul><li><i><a href="Concurrent_DOS" class="mw-redirect" title="Concurrent DOS">Concurrent DOS</a></i></li>

<li><i><a href="FlexOS" title="FlexOS">FlexOS</a></i></li>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="L4_microkernel_family" title="L4 microkernel family">L4</a> kernel</th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="L4Linux" title="L4Linux">L<sup>4</sup>Linux</a>^°</li>

<li><a href="PikeOS" title="PikeOS">PikeOS</a>^</li>

<li><a href="Wombat_(operating_system)" title="Wombat (operating system)">Wombat</a>^°</li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Psion_(company)" title="Psion (company)">Psion</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><i><a href="EKA2" title="EKA2">EKA2</a></i>^° kernel → <i><a href="Symbian" title="Symbian">Symbian</a> OS</i>^°</li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Microsoft" title="Microsoft">Microsoft</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="ThreadX" title="ThreadX">ThreadX</a>^</li>

<li><a href="Windows_Embedded_Compact" class="mw-redirect" title="Windows Embedded Compact">Windows Embedded Compact</a></li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="IBM" title="IBM">IBM</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<li><a href="Transaction_Processing_Facility" title="Transaction Processing Facility">Transaction Processing Facility</a> (TPF)</li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Texas_Instruments" title="Texas Instruments">Texas Instruments</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<li><a href="TI-RTOS#RTOS_kernel_overview" title="TI-RTOS">TI-RTOS Kernel</a>^°</li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Digital_Equipment_Corporation" title="Digital Equipment Corporation">DEC</a> <a href="PDP-11" title="PDP-11">PDP-11</a> & <a href="VAX" title="VAX">VAX</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<li><i><a href="VAXELN" title="VAXELN">VAXELN</a></i></li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Low resource</th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="ChibiOS/RT" title="ChibiOS/RT">ChibiOS/RT</a>^°</li>

<li><a href="Contiki" title="Contiki">Contiki</a>°</li>

<li><a href="ERIKA_Enterprise" title="ERIKA Enterprise">ERIKA Enterprise</a>°</li>

<li>FunkOS°</li>

<li><a href="Apache_Mynewt" title="Apache Mynewt">Mynewt</a>°</li>

<li><a href="RT-Thread" title="RT-Thread">RT-Thread</a>° Nano</li>

<li><a href="RTEMS" title="RTEMS">RTEMS</a>°</li>

<li><a href="ThreadX" title="ThreadX">ThreadX</a>^</li>

<li><a href="Zephyr_(operating_system)" title="Zephyr (operating system)">Zephyr</a>^°</li></ul>

</div></td></tr></tbody></table><div>

<ul><li><i><a href="BeRTOS" title="BeRTOS">BeRTOS</a></i>^°</li>

<li><i><a href="DioneOS" title="DioneOS">DioneOS</a></i></li>

<li><a href="Segger_Microcontroller_Systems" title="Segger Microcontroller Systems">embOS</a></li>

<li><a href="FreeRTOS" title="FreeRTOS">FreeRTOS</a>^°</li>

<li><a href="Green_Hills_Software#Real-time_operating_systems" title="Green Hills Software">µ-velOSity</a>^</li>

<li><a href="OS-9" title="OS-9">OS-9</a> (<a href="Microware" title="Microware">Microware</a>)</li>

<li><a href="Phantom_OS" title="Phantom OS">Phantom OS</a>^°</li>

<li><a href="RT-Thread" title="RT-Thread">RT-Thread</a>° Standard</li>

<li><a href="ScreenOS" title="ScreenOS">ScreenOS</a></li>

<li><i><a href="Sintran_III" title="Sintran III">Sintran III</a></i></li>

<li><i><a href="THEOS" title="THEOS">THEOS</a></i></li>

<li><i><a href="Thoth_(operating_system)" title="Thoth (operating system)">Thoth</a></i>^ → <i><a href="Harmony_(operating_system)" title="Harmony (operating system)">Harmony</a></i>^</li>

<li><a href="VxWorks" title="VxWorks">VxWorks</a></li>

<li><a href="EulerOS" title="EulerOS">UniProton</a></li></ul></div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Software_framework" title="Software framework">Frameworks</a>, <a href="Software_development_kit" title="Software development kit">kits</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<li><a href="Robot_Operating_System" title="Robot Operating System">Robot Operating System</a>° 2</li>

<li><a href="Xenomai" title="Xenomai">Xenomai</a>°</li>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Programmer" title="Programmer">Developers</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="Gordon_Bell_(QNX)" title="Gordon Bell (QNX)">Gordon Bell</a></li>

<li><a href="David_Cheriton" title="David Cheriton">David Cheriton</a></li>

<li><a href="Dave_Cutler" title="Dave Cutler">Dave Cutler</a></li>

<li><a href="Dan_Dodge" title="Dan Dodge">Dan Dodge</a></li>

<li><a href="Adam_Dunkels" title="Adam Dunkels">Adam Dunkels</a></li>

<li><a href="Ken_Sakamura" title="Ken Sakamura">Ken Sakamura</a></li></ul>

</div></td></tr><tr><td class="navbox-abovebelow" colspan="2"><div>

<ul><li><i>Italics</i> <b>= discontinued</b></li>

<li><b>^ = <a href="Microkernel" title="Microkernel">Microkernel</a></b></li>

<li><b>° = <a href="Open-source_software" title="Open-source software">Open-source software</a></b><br><span class="noviewer" typeof="mw:File"><span title="List-Class article"></span></span> <b><a href="Comparison_of_real-time_operating_systems" title="Comparison of real-time operating systems">Comparison</a></b> <span class="noviewer" typeof="mw:File"><span title="Category"></span></span> <b>Category</b></li></ul>

</div></td></tr></tbody></table></div>

<div class="navbox-styles"></div><div role="navigation" class="navbox" aria-labelledby="Microkernels-nanokernels667" style="padding:3px"><table class="nowraplinks hlist mw-collapsible autocollapse navbox-inner" style="border-spacing:0;background:transparent;color:inherit"><tbody><tr><th scope="col" class="navbox-title" colspan="2"><div id="Microkernels-nanokernels667" style="font-size:114%;margin:0 4em"><a href="Microkernel" title="Microkernel">Microkernels</a>-<a href="Microkernel#Nanokernel" title="Microkernel">nanokernels</a></div></th></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Kernel_(operating_system)" title="Kernel (operating system)">Kernels</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em"></div><table class="nowraplinks navbox-subgroup" style="border-spacing:0"><tbody><tr><th scope="row" class="navbox-group" style="width:1%"><a href="L4_microkernel_family" title="L4 microkernel family">L4</a> family</th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><i><a href="Eumel" title="Eumel">Eumel</a></i> → <i><a href="L3_microkernel" class="mw-redirect" title="L3 microkernel">L3</a></i> → <a href="L4_microkernel_family" title="L4 microkernel family">L4</a>°</li>

<ul><li><i><a href="Mac_OS_nanokernel" title="Mac OS nanokernel">Mac OS nanokernel</a></i></li>

<li><i><a href="NuKernel" class="mw-redirect" title="NuKernel">NuKernel</a></i></li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Psion_(company)" title="Psion (company)">Psion</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Amiga" title="Amiga">Amiga</a>-type</th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="Exec_(Amiga)#ExecSG" title="Exec (Amiga)">ExecSG</a></li></ul></li>

<li><a href="Quark_(kernel)" title="Quark (kernel)">Quark</a></li>

<li><i><a href="WarpOS" title="WarpOS">WarpOS</a></i></li></ul>

</div></td></tr></tbody></table><div>

<ul><li><i><a href="Adaptive_Domain_Environment_for_Operating_Systems" title="Adaptive Domain Environment for Operating Systems">ADEOS</a></i>°</li>

<li>Little Kernel</li>

<li><i><a href="Mach_(kernel)" title="Mach (kernel)">Mach</a></i>°

<li><i><a href="MicroEmpix" title="MicroEmpix">MicroEmpix</a></i></li>

<li><a href="Green_Hills_Software#Real-time_operating_systems" title="Green Hills Software">µ-velOSity</a>^</li>

<li><i><a href="Spring_(operating_system)#The_nucleus" title="Spring (operating system)">nucleus</a></i></li>

<li><i><a href="PowerUP_(accelerator)#PowerUP_software" title="PowerUP (accelerator)">PowerUP</a></i></li>

<li><a href="RTLinux" title="RTLinux">RTLinux</a>°</li>

<li><a href="TI-RTOS#RTOS_kernel_overview" title="TI-RTOS">TI-RTOS kernel</a>^°</li>

<li><i><a href="Vanguard_(microkernel)" title="Vanguard (microkernel)">Vanguard</a></i></li></ul></div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Operating_system" title="Operating system">Operating<br>systems</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em"></div><table class="nowraplinks navbox-subgroup" style="border-spacing:0"><tbody><tr><th scope="row" class="navbox-group" style="width:1%"><a href="POSIX" title="POSIX">POSIX</a> support</th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em"></div><table class="nowraplinks navbox-subgroup" style="border-spacing:0"><tbody><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Unix-like" title="Unix-like">Unix-like</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<li><i><a href="Lites" title="Lites">Lites</a></i></li>

<li><i><a href="Meiko_Scientific#MeikOS" title="Meiko Scientific">MeikOS</a></i></li>

<li><a href="Minix" title="Minix">Minix</a>°

<ul><li><a href="Minix-vmd" class="mw-redirect" title="Minix-vmd">Minix-vmd</a>°</li>

<li><a href="Minix_3" title="Minix 3">Minix 3</a>°</li></ul></li>

<li><i><a href="MkLinux" title="MkLinux">MkLinux</a></i>°</li>

<li><i><a href="Multi-Environment_Real-Time" title="Multi-Environment Real-Time">Multi-Environment Real-Time</a></i>^ (<i>MERT</i> – <i>Unix-RT</i>)</li>

<li><a href="Redox_(operating_system)" class="mw-redirect" title="Redox (operating system)">Redox</a>°</li>

<li><i><a href="Spring_(operating_system)" title="Spring (operating system)">Spring</a></i></li>

<li><a href="Tinix" title="Tinix">Tinix</a></li>

<li><i><a href="UNICOS" title="UNICOS">UNICOS</a></i></li>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%">Partial</th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><i><a href="ChorusOS" title="ChorusOS">ChorusOS</a>^</i></li>

<li><a href="Integrity_(operating_system)" title="Integrity (operating system)">Integrity</a>^</li>

<li><a href="Nucleus_RTOS" title="Nucleus RTOS">Nucleus RTOS</a>^</li>

<li><a href="NuttX" title="NuttX">NuttX</a>^°</li>

</div></td></tr></tbody></table><div></div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Capability-based_security" title="Capability-based security">Capability-based</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><i><a href="GNOSIS" title="GNOSIS">GNOSIS</a></i> → <i><a href="KeyKOS" title="KeyKOS">KeyKOS</a></i> → <i><a href="EROS_(microkernel)" title="EROS (microkernel)">EROS</a></i> → CapROS</li>

<li><i><a href="Hydra_(operating_system)" title="Hydra (operating system)">Hydra</a></i></li>

<li><i><a href="Midori_(operating_system)" title="Midori (operating system)">Midori</a></i></li>

<li><i><a href="NLTSS" title="NLTSS">NLTSS</a></i></li>

<li><i><a href="HarmonyOS_NEXT" title="HarmonyOS NEXT">HarmonyOS NEXT</a> (<a href="OpenHarmony" title="OpenHarmony">OpenHarmony</a>, <a href="OpenHarmony#Oniro_OS" title="OpenHarmony">Oniro OS</a>)</i> → <i><a href="HarmonyOS" title="HarmonyOS">HarmonyOS</a></i></li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="L4_microkernel_family" title="L4 microkernel family">L4</a> kernel</th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="L4Linux" title="L4Linux">L<sup>4</sup>Linux</a>^°</li>

<li><a href="PikeOS" title="PikeOS">PikeOS</a>^</li>

<li><a href="Wombat_(operating_system)" title="Wombat (operating system)">Wombat</a>^°</li></ul>

<ul><li><i><a href="JavaOS" title="JavaOS">JavaOS</a></i> (<i><a href="JavaOS#Chorus/Jazz" title="JavaOS">Chorus/Jazz</a></i>^ integrates <i><a href="ChorusOS" title="ChorusOS">ChorusOS</a></i>^)</li>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Macintosh" class="mw-redirect" title="Macintosh">Macintosh</a> hosted</th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em"></div><table class="nowraplinks navbox-subgroup" style="border-spacing:0"><tbody><tr><th id="Unix-like13" scope="row" class="navbox-group" style="width:1%"><a href="Unix-like" title="Unix-like">Unix-like</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><i><a href="MachTen" title="MachTen">MachTen</a></i></li>

<li><i><a href="MacMach" title="MacMach">MacMach</a></i></li></ul>

</div></td></tr></tbody></table><div>

<ul><li><i><a href="Copland_(operating_system)" title="Copland (operating system)">Copland</a></i></li>

<li><i><a href="Mac_OS_8#Mac_OS_8.6" title="Mac OS 8">Classic Mac OS</a></i> (<a href="PowerPC" title="PowerPC">PowerPC</a> kernel)</li></ul></div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Psion_(company)" title="Psion (company)">Psion</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<li><i><a href="EPOC_(operating_system)" title="EPOC (operating system)">EPOC</a></i> → <i><a href="Symbian" title="Symbian">Symbian</a> OS</i>^°</li>

<ul><li><a href="AmigaOS" title="AmigaOS">AmigaOS</a></li>

<li><a href="AROS_Research_Operating_System" title="AROS Research Operating System">AROS</a>°

<ul><li><a href="AROS_Research_Operating_System#AspireOS" title="AROS Research Operating System">AspireOS</a>°</li>

<li><a href="AROS_Research_Operating_System#Broadway" title="AROS Research Operating System">Broadway</a>°</li>

<li><a href="AROS_Research_Operating_System#Icaros_Desktop" title="AROS Research Operating System">Icaros Desktop</a>°</li></ul></li>

<li><a href="MorphOS" title="MorphOS">MorphOS</a></li></ul>

<ul><li><a href="Singularity_(operating_system)" title="Singularity (operating system)">Singularity</a></li>

<li><a href="ThreadX" title="ThreadX">ThreadX</a>^°</li>

<li><i><a href="Verve_(operating_system)" title="Verve (operating system)">Verve</a></i></li></ul>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="AIM_alliance" title="AIM alliance">AIM alliance</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><i>Pink</i> → <i><a href="Taligent" title="Taligent">Taligent</a> OS</i> → <i><a href="Workplace_OS" title="Workplace OS">Workplace OS</a></i></li></ul>

</div></td></tr></tbody></table><div>

<ul><li><i><a href="Amoeba_(operating_system)" title="Amoeba (operating system)">Amoeba</a></i>°</li>

<li><i><a href="BeRTOS" title="BeRTOS">BeRTOS</a></i>^°</li>

<li><a href="ChibiOS/RT" title="ChibiOS/RT">ChibiOS/RT</a>^°</li>

<li><a href="FreeRTOS" title="FreeRTOS">FreeRTOS</a>^°</li>

<li><a href="HelenOS" title="HelenOS">HelenOS</a>°</li>

<li><a href="Phantom_OS" title="Phantom OS">Phantom OS</a>^°</li>

<li><a href="SharpOS" title="SharpOS">SharpOS</a>°</li>

<li><i><a href="Thoth_(operating_system)" title="Thoth (operating system)">Thoth</a></i>^ → <i><a href="Harmony_(operating_system)" title="Harmony (operating system)">Harmony</a></i>^ → <i><a href="V_(operating_system)" title="V (operating system)">V</a></i></li>

<li><a href="Versatile_Real-Time_Executive" title="Versatile Real-Time Executive">VRTX</a>^</li></ul></div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Software_framework" title="Software framework">Frameworks</a>, <a href="Software_development_kit" title="Software development kit">kits</a></th><td class="navbox-list-with-group navbox-list navbox-odd" style="width:100%;padding:0"><div style="padding:0 0.25em">

<li><a href="Cosmos_(operating_system)" title="Cosmos (operating system)">Cosmos</a>°</li>

<li><a href="Genode" title="Genode">Genode</a>°</li>

</div></td></tr><tr><th scope="row" class="navbox-group" style="width:1%"><a href="Programmer" title="Programmer">Developers</a></th><td class="navbox-list-with-group navbox-list navbox-even" style="width:100%;padding:0"><div style="padding:0 0.25em">

<ul><li><a href="Gordon_Bell_(QNX)" title="Gordon Bell (QNX)">Gordon Bell</a></li>

<li><a href="Thomas_Bushnell" title="Thomas Bushnell">Thomas Bushnell</a></li>

<li><a href="David_Cheriton" title="David Cheriton">David Cheriton</a></li>

<li><a href="Dan_Dodge" title="Dan Dodge">Dan Dodge</a></li>

<li><a href="Per_Brinch_Hansen" title="Per Brinch Hansen">Per Brinch Hansen</a></li>

<li><a href="Gernot_Heiser" title="Gernot Heiser">Gernot Heiser</a></li>

<li><a href="Jochen_Liedtke" title="Jochen Liedtke">Jochen Liedtke</a></li>

<li><a href="James_G._Mitchell" title="James G. Mitchell">James G. Mitchell</a></li>

<li><a href="Ike_Nassi" title="Ike Nassi">Ike Nassi</a></li>

<li><a href="Richard_Rashid" title="Richard Rashid">Richard Rashid</a></li>

<li><a href="Andrew_S._Tanenbaum" title="Andrew S. Tanenbaum">Andrew S. Tanenbaum</a></li>

<li><a href="Avie_Tevanian" title="Avie Tevanian">Avie Tevanian</a></li>

<li><a href="William_Wulf" title="William Wulf">William Wulf</a></li></ul>

</div></td></tr><tr><td class="navbox-abovebelow" colspan="2"><div>

<ul><li><i>Italics</i> <b>= discontinued</b></li>

<li><b>° = <a href="Open-source_software" title="Open-source software">Open-source software</a></b><br><span class="noviewer" typeof="mw:File"><span title="Category"></span></span> <b>Category: Microkernel-based operating systems</b> <span class="noviewer" typeof="mw:File"><span title="Category"></span></span> <b>Category: Microkernels</b></li></ul>

</div></td></tr></tbody></table></div></div><div><div class="zim-footer">

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