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Comparison of real-time operating systems

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This is a list of real-time operating systems. An RTOS is an operating system in which the maximum time from an input stimulus to an output response can be definitely determined.


Name License Source model Target usage Status Platforms Official site
Abassi proprietary closed embedded active AVR32, ATmega, Coldfire, Cortex-A9, Cortex-M0, Cortex-M3, Cortex-M4, MSP430, PIC32, TMS320C2000, 80251, 8051 [1]
AMOS Proprietary ? commercial closed 680x0, 683xx, x86 via emulation [2]
AMX RTOS ? ? embedded ? 680x0, 683xx, ARM, ColdFire, MIPS32, PowerPC [3]
ARTOS (Locamation) proprietary ? embedded active x86 [4]
ARTOS (Robotu) proprietary ? embedded active ARM9+ [5]
Atomthreads BSD open source embedded active AVR, STM8 [6]
AVIX proprietary closed embedded active Atmel AT91SAM3(U/S), Energy Micro EFM32, NXP LPC1300, LPC1700, ST Micro STM32, Texas Instruments LM3S, Toshiba TMPM330, Microchip PIC32MX, Microchip PIC24F, PIC24H, dsPIC30F & dsPIC33F [7]
BeRTOS modified GNU GPL open source embedded active DSP56K, I196, IA32, ARM, AVR [8]
BRTOS MIT License open source embedded active Freescale Coldfire V1, Freescale HCS08, Texas Instruments MSP430 and Atmel ATMEGA328/128 (Port for PIC18 in development [9]
CapROS GNU GPL open source embedded active IA32, ARM9 [10]
ChibiOS/RT Modified GNU GPL or proprietary open source embedded, small footprint active x86, ARM7, ARM9, Cortex-M0, Cortex-M3, Cortex-M4, PowerPC e200z, STM8, AVR, MSP430, Coldfire, H8S [11] [12]
ChorusOS ? ? ? ? SPARC, x86, PowerPC [13]
ChronOS GNU GPL open source research, general purpose active x86, ARM [14]
CMX RTOS proprietary ? embedded active IA32, ARM, AVR, H8, PIC, 8051 [15]
CoActionOS Modified GNU GPL or proprietary open source embedded active ARM Cortex-M3, LPC17xx [16]
cocoOS BSD open source embedded active AVR, MSP430 [17]
Concurrent CP/M proprietary closed (meanwhile: open source) general purpose defunct 8080, Z80, 8086 Digital Research
Concurrent DOS proprietary closed general purpose defunct 8086, 286, 386, 68000, (also 8080/Z80 in dual-processor variants) Digital Research
Contiki BSD open source embedded active MSP430, AVR [18]
COS proprietary closed process control defunct GEC 4000 series ?
CooCox CoOS BSD open source general purpose active STM32, NXP LPC1000, TI LM3S8962,Nuvoton NU1xx,Holtek HT32 [19]
Deos proprietary closed safety critical active x86, PowerPC, PowerQUICC [20]
DioneOS proprietary available for licensee embedded active Texas Instruments MSP430, MSP430x [21]
DNIX proprietary closed general purpose defunct 68000 ?
GEC DOS proprietary closed process control defunct GEC 4000 series ?
DrRtos free? open? ? active? ARM7 [22]
DSOS ? ? ? defunct TI-980A minicomputer ?
DSP/BIOS free closed, available with license general purpose active Primarily Texas Instruments C2800, C5500, C6000 and OMAP DSP cores [23]
DSPnano RTOS Open Source and Commercial Open Source MCU, DSC, DSP SoC active R8C, M16C, PIC24, dsPIC33 [24]
eCos modified GNU GPL open source general purpose active ARM/XScale/Cortex-M, CalmRISC, 68000/Coldfire, fr30, FR-V, H8, IA32, MIPS, MN10300, OpenRISC, PowerPC, SPARC, SuperH, V8xx [25]
eCosPro modified GNU GPL and eCosPro license open source with non-free portions general purpose active ARM/XScale/Cortex-M, CalmRISC, 68000/Coldfire, fr30, FR-V, H8, IA32, MIPS, MN10300, NIOS2, OpenRISC, PowerPC, SPARC, SuperH, V8xx [26]
embOS proprietary closed embedded active 8/16/32 bit processors [27]
Embox BSD License open source embedded active ARM, LEON, MicroBlaze, x86 [28]
ERIKA Enterprise GPL+Linking exception Open Source embedded active ARM7, ARM Cortex MX, Hitachi H8, Altera Nios2, Microchip dsPIC (including dsPIC30, dsPIC33, and PIC24), Microchip PIC32, ST Microelectronics ST10, Infineon C167, Infineon Tricore, Freescale PPC e200 (MPC 56xx) (including PPC e200 z0, z6, z7), Freescale S12XS, EnSilica eSi-RISC, Atmel AVR5, Lattice Mico32, TI MSP430, Renesas RX200 [29]
EROS GPL open source experimental
research use		 dormant IA32 [30]
Femto OS GPLv3 open source embedded active AVR [31]
FlexOS proprietary closed general purpose defunct 186, 286, 386, V60, V70, 68000 Digital Research/Novell
FreeOSEK GPLv3 open source embedded active Posix, Windows, ARM7 [32]
FreeRTOS modified GNU GPL open source embedded active ARM, AVR, AVR32, Freescale ColdFire, HCS12, IA32, Cortex-M3, MicroBlaze, MSP430, PIC, PIC32, Renesas H8/S, 8052, STM32 [33]
FunkOS modified Sleepycat license open source embedded active AVR, MSP430, Cortex-M3 [34]
Fusion RTOS free ? semi-general purpose active ARM, Blackfin, StarCore, DSP 56800E
HeartOS proprietary closed safety critical active x86, PowerPC, PowerQUICC [35]
Helium free ? ? ? Open-Source RTOS for HCS08 & AVR MCUs [36]
HP-1000/RTE ? ? ? ? ? [37]
Hybridthreads ? open source FPGA active Xilinx Virtex-II Pro ML310, Xilinx Virtex-II Pro XUP [38]
IBM 4680 OS proprietary closed general purpose defunct 286 IBM (DR Concurrent DOS 286 derivative)
IBM 4690 OS proprietary closed general purpose active 286, 386 IBM (DR FlexOS 286/386 derivative)
INTEGRITY proprietary closed embedded active ARM, XScale, Blackfin, Freescale ColdFire, MIPS, PowerPC, x86 [39]
IntervalZero RTX proprietary closed MS Windows extension active x86 [40]
ITRON, µITRON varies varies embedded active ARM, MIPS, x86, and others [41], [42]
ioRTOS proprietary closed embedded, safety critical active TI TMS320 Families (x2812, c6416) [43]
iRTOS GNU LGPL open source embedded active AVR, ARM7 [44]
KolibriOS GNU GPL open source embeddable active x86 [45]
LynxOS proprietary source code available embedded active Motorola 68010, x86/IA-32, ARM, Freescale PowerPC, PowerPC 970, LEON3 [46]
MaRTE OS GNU GPL open source embedded active IA-32 [47]
MAX II,IV proprietary ? ? ? Modcomp II,IV,... ?
MenuetOS ? ? ? ? ? [48]
Micrium µC/OS-II proprietary Available under license embedded active ARM7/9/11/Cortex M1/3, AVR, HC11/12/S12, Coldfire, Blackfin, Microblaze, NIOS, 8051, x86, Win32, H8S, M16C, M32C, MIPS, 68000, PIC24/dsPIC33/PIC32, MSP430, PowerPC, SH, StarCore, STM32, … [49]
Micrium µC/OS-III proprietary Available under license embedded active ARM7/9/11/Cortex M1/3, AVR, HC11/12/S12, Coldfire, Blackfin, Microblaze, NIOS, 8051, x86, Win32, H8S, M16C, M32C, MIPS, 68000, PIC24/dsPIC33/PIC32, MSP430, PowerPC, SH, StarCore, STM32, … [50]
Milos GNU GPL open source embedded active Cortex-M3 [51]
Microsoft Invisible Computing (MMLite) proprietary open source embedded active Arm7, Arm9, i386, h8, mips, Trimedia, eCog1 [52]
MP/M proprietary closed (meanwhile: open source) general purpose defunct 8080, Z80, 8086 Digital Research
MQX proprietary complimentary source code available embedded active Freescale Power, ColdFire, Kinetis Cortex ARM, List of Freescale products, [53]
MERT ? ? ? inactive PDP-11 ?
Multiuser DOS proprietary closed general-purpose defunct 386 Digital Research/Novell, Concurrent Controls/Datapac/IMS (see REAL/32)
Nano-RK mixed open source embedded active AVR, MSP430 [54]
Neutrino proprietary some source code provided microkernel active ARM, MIPS, PPC, SH, x86, XScale [55]
Nokia OS ? ? embedded GSM devices ? ARM (Epoc32)?
Nucleus OS proprietary source code provided embedded active ARM (Cortex-M3, M4, R4, R4F, A8, A9, ARM7, ARM9, ARM11), PowerPC, MIPS32, MIPS16e, microMIPS, Coldfire, SuperH [56]
NuttX BSD open source embedded, small footprint active Linux user mode, ARM7, ARM9, Cortex-M3, 8052, SH-1, Renesas MC16C/26, Zilog Z16F, Zilog eZ80 Acclaim!, Zilog Z8Encore!, Z80, partial ports for MIPS [57]
On Time RTOS-32 proprietary source code available embedded active 32/64-bit x86 [58]
OS20 proprietary closed embedded (STB) maintenance only ST20 ?
OS21 proprietary source code provided embedded (STB) active ST40/SH4,ST200,ARM ?
OS4000 proprietary closed process control maintenance only GEC 4000 series ?
OPENRTOS proprietary source code available embedded active Same as FreeRTOS [59]
OSA BSD open source embedded active PIC10-PIC24, AVR 8bit, STM8 [60]
OSE proprietary closed general purpose active ARM, PowerPC, MIPS, IXP2400, TI OMAP, … [61]
OS-9 proprietary available to customers embedded active ARM/strongARM, MIPS, PowerPC, SuperH, x86/Pentium, XSCALE, Motorola 6809, Motorola 68000-series [62]
OSEK n/a specification embedded active engine control units [63]
Phar Lap ETS ? ? ? ? ? ?
PaulOS GNU GPL open source embedded ? ? [64]
PICOS18 GNU GPL open source embedded ? PIC18 [65]
picoOS Modified BSD License open source embedded discontinued 6502, 80x86, ARM7, AVR, PowerPC [66]
Phoenix-RTOS GNU GPL open source embedded ? ARM7, X86, PowerPC [67]
PikeOS proprietary available to customers safety critical, virtualization active PPC, x86, ARM, MIPS, SPARC/Leon, SuperH [68]
Portos proprietary source code provided embedded, small footprint active DSP/BIOS (ARM soon) [69]
POK BSD open source embedded active x86, PowerPC, SPARC [70]
PowerTV proprietary ? ? ? ? [71]
Prex BSD open source microkernel active ARM, IA32 [72]
Protothreads BSD open source general purpose active Architecture independent [73]
pSOS proprietary ? ? discontinued Motorola 680x, Motorola 68000 ?
QNX mixed ? general purpose active IA32, MIPS, PowerPC, SH-4, ARM, StrongARM, XScale [74]
Q-Kernel proprietary available to customers embedded active PIC-30, PIC-24, dsPIC, PIC32MX [75]
QP Open Source and Commercial Open Source MCU, DSC, DSP SoC active ARM7/9, ARM Cortex-M3/Cortex-M0, MSP430, TMS320C28x, AVR, AVRXmega, ColdFire, 68HC08, M16C/R8C, H8, 8051, 80251, PIC18, PIC24/dsPIC33, Nios II, PSoC1 [76]
RDOS proprietary ? general purpose defunct Data General Nova, Data General Eclipse n/a
ReaGOS proprietary closed, available with license embedded active x86, ATmega, ARM, portable [77]
REAL/32 proprietary closed general-purpose active 386 IMS (Multiuser DOS derivative)
Real-time Linux (CONFIG_RT_PREEMPT) GPLv2 open source general purpose active same as Linux [78] wiki
REX OS proprietary closed, available with license embedded inactive ARM ja:REX OS
RMX ? ? ? active 8080, 8086, 80386 or higher [79]
RSX-11 proprietary ? ? historic PDP-11 n/a
RT-11 proprietary ? general purpose defunct PDP-11 n/a
RTAI GNU GPL open source general purpose active x86, ARM [80]
RTEMS modified GNU GPL open source embedded active ARM, Blackfin, ColdFire, TI C3x/C4x, H8/300, x86, 68k, Milkymist SoC, MIPS, Nios II, PowerPC, SuperH, SPARC, ERC32, LEON, Mongoose-V [81]
rt-kernel mixed available to customers embedded active ARM7, ARM9, Cortex-M3, Cortex-A8, Blackfin, PowerPC, Windows (simulation) [82]
RTLinux GNU GPL open source general purpose inactive same as Linux [83]
RT-Thread GPLv2 open source embedded active ARM, IA-32, AVR32,M16C, MIPS [84][85]
RTXC Quadros proprietary source available embedded active [[ARM architecture|ARM - Atmel/Freescale/NXP/ST/TI]], Blackfin, Coldfire/68K, PowerPC, StarCore, TI/Luminary Stellaris, TI OMAP, XScale [86]
SafeRTOS proprietary source code & Design Assurance Pack available embedded, Safety Critical active Same as FreeRTOS [87]
Salvo proprietary source available embedded active 8051, ARM ARM7TDMI and Cortex-M3, Atmel AVR and Mega AVR, Epson S1C17, Motorola M68HC11, TI MSP430, PICmicro 12/14000/16/17/18, PIC24, dsPIC, PIC32, TMS320C2000 [88]
SCIOPTA proprietary closed, source available embedded, safety related active ARM, Cortex-M0, Cortex-M3, Cortex-M4, Cortex-R4, Cortex-A9, XScale, Renesas RX, PowerPC, ColdFire, HCS12, M16C, Windows(simulation) [89]
scmRTOS free open source embedded active ARM, Cortex-M3, Blackfin, MSP430, AVR [90]
SDPOS GNU LGPL open source embedded active ARM, Cortex-M3, Blackfin, PIC18, PIC24, i386 win32/linux synthetic targets [91]
SHaRK GNU GPL open source ? ? ? [92]
SimpleAVROS GPLv3 open source embedded active, beta AVR only n/a
SINTRAN III ? ? ? ? Norsk Data computers n/a
Sirius RTOS proprietary available under license embedded active x86, i386+, ARM, 68k, 8051, ... [93]
SMX RTOS proprietary available under license embedded active ARM, Cortex, ColdFire, PowerPC, x86, ... [94]
SOOS Project free open source embedded active, beta H8/300 [95]
SYS/BIOS (previously SPOX, BIOSuite, DSP/BIOS) proprietary closed embedded inactive Texas Instruments: C3x, C4x, C5x and C8x families [96]
Symbian OS Eclipse Public License open source embedded active ARM [97]
SYS/BIOS BSD License open source embedded active Primarily Texas Instruments: MSP430, C2000, C5000, C6000 and their ARM families (Cortex M3/4F, Cortex R4, Cortex A8, Cortex A15) [98]
Talon DSP RTOS proprietary ? embedded DSP active TMS320 [99]
TargetOS proprietary available to customers embedded ? ARM, Freescale ColdFire, Freescale PowerPC [100]
T-Kernel free under T-License source available embedded RTOS active ARM/MIPS/SH/others [101]
THEOS ? ? ? ? ? [102]
ThreadX proprietary available to customers ? active ARC, ARM/Thumb, AVR32, BlackFin, ColdFire/68K, H8/300H, Luminary Micro Stellaris, M-CORE, MicroBlaze, PIC24/dsPIC, PIC32, MIPS, V8xx, Nios II, PowerPC, SH, SHARC, StarCore, STM32, StrongARM, TMS320C54x, TMS320C6x, x86/x386, XScale, Xtensa/Diamond, ZSP [103]
Trampoline Operating System (OSEK and AUTOSAR) GNU LGPL open source embedded active AVR, H8/300H, POSIX, NEC V850e, ARM7, Infineon C166, HCS12 or PowerPC [104]
TNKernel BSD open source embedded active ARM, PIC24/dsPIC, PIC32, HCS08, STM32 (Cortex-M3) [105]
Transaction Processing Facility proprietary ? general purpose active IBM System/360 derivatives [106]
TRON project open? mixed mixed active any: not an implementation, but a specification [107]
TUD:OS GNU GPL open source ? active ARM, IA-32, X86-64 [108]
Unison RTOS Open Source and Commercial Open Source MCU, DSC, DSP SoC active Pic32, ARM Cortex (TI Stellaris, ST STM32, NXP LPC1700), SH2A, SH2AFPU, R32C, MIPS4K, {SHARC, Coldfire, TMS320, Altera NIOS, Xilinx Microblaze, Proprietary} [109]
UNIX-RTR ? ? ? ? PDP-11 ?
uSmartx ? open source embedded ? ARM7TDMI, AVR, H8 [110]
µTasker proprietary Open-code. Free for non-commercial or with support license embedded active Freescale Kinetis, Freescale Coldfire M522XX, Atmel AVR32, Atmel SAM7X, TI Stellaris, NXP LPC2000, NXP LPC1700, ST-Micro STM32 (F1/F2/F4), ST-Micro STR91X, Freescale NE64, Windows (processor and peripheral simulation) [111]
u-velOSity ? ? microkernel active ? [112]
velOSity ? ? ? active Power Architecture, ARM/XScale, MIPS, x86/Pentium, ColdFire, Blackfin, OMAP, DaVinci [113]
VRTX ? ? ? inactive ARM, MIPS, PowerPC, RISC [114]
VxWorks proprietary ? embedded active ARM, IA32, Intel 64, MIPS, PowerPC, SH-4, StrongARM, xScale [115]
Windows CE proprietary Microsoft Shared Source embedded active x86, MIPS, ARM, SuperH [116]
Xenomai GPLv2 Open Source general active x86, x86_64, PowerPC, ARM, Analog Devices Blackfin BF52x, BF53x, BF54x and BF56x [117]
xPC Target proprietary closed real-time testing/embedded active x86 [118]
Y@SOS GNU LGPL Open Source embedded active Cortex-M3, STM32 [119]
MontaVista Linux GNU GPL Open Source embedded active ? [120]
µnOS ? ? ? historic Motorola 68k ?
uOS GNU GPL Open Source embedded active AVR, ARM, MIPS32, MSP430, Intel i386, Linux386 [121]
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