Comparison of real-time operating systems From Wikipedia, the free encyclopedia
This is a list of real-time operating systems . An RTOS is an operating system in which the time taken to process an input stimulus is less than the time lapsed until the next input stimulus of the same type.
Name License Source model Target uses Status Platforms Official website Abassi Proprietary closed embedded active AVR32 , ATmega , ColdFire , Cortex-A9 , Cortex-M0 , Cortex-M3 , Cortex-M4 , MSP430 , PIC32 , TMS320C2000, 80251, 8051 www AMOS Proprietary ? commercial closed 680x0 , 683xx, x86 via emulationwww AMX RTOS Proprietary closed embedded active 680x0, 683xx, ARM, ColdFire, MIPS32 , PowerPC www Apache Mynewt Apache 2.0 open embedded active ARM Cortex-M , MIPS32 , Microchip PIC32 , RISC-V mynewt uKOS GNU GPL open source embedded active Cortex-M3-M4-M7-H7, 6833x, PIC, CSEM icyflex-1, STM32 www ARTOS (Locamation) Proprietary closed power-system automation active x86 www ARTOS (Robotu) Proprietary ? embedded, robots defunct ARM9+ www Atomthreads BSD open source embedded active AVR , STM8, ARM , MIPSatomthreads AVIX Proprietary closed embedded active Atmel AT91SAM3(U/S), EFM32 , NXP LPC1300-1700 , ST Micro STM32, Texas Instruments LM3S, Toshiba TMPM330, Microchip PIC32MX-PIC24F-PIC24H-dsPIC30F-dsPIC33F www BeRTOS modified GNU GPL open source embedded active ARM, Cortex-M3, ARM ARM7TDMI, Atmel AVR, PowerPC (emu), x86 (emu), x86-64 (emu) www BOOS Core GNU GPL open source embedded active ARMv5TEJ (TI AM18x), DSP (TI TMS320C64x) www BRTOS MIT open source embedded active Freescale Kinetis (ARM Cortex-M4), Freescale Coldfire V1, Freescale HCS08, ST STM32F4xx (ARM Cortex-M4F), NXP LPC11xx (ARM Cortex-M0), NXP LPC176x (ARM Cortex-M3), Renesas RX600 (RX62N), Texas Instruments MSP430, Texas Instruments Stellaris LM3S8968 (ARM Cortex-M3), Texas Instruments Stellaris LM4F120H5QR (ARM Cortex-M4F), Atmel ATMEGA328/128 and Microchip PIC18 github CapROS GNU GPL open source embedded active IA-32, ARM9 www ChibiOS/RT Mixed, GNU GPL or proprietary open source embedded, small footprint active x86, ARM7 , ARM9, Cortex-M0-M3-M4, PowerPC e200z , STM8, STM32, AVR, MSP430, ColdFire, H8S www , sourceforge ChorusOS ? ? ? defunct SPARC , x86, PowerPCdocs ChronOS GNU GPL open source research, general purpose active x86, ARM chronoslinux CoActionOS (now Stratify OS) Modified GNU GPL or proprietaryopen source embedded discontinued ARM Cortex-M3, LPC17xx www cocoOS BSD open source embedded active AVR, MSP430, STM32 www Concurrent CP/M,MP/M Proprietary closed (meanwhile: open source) general purpose, industrial historic 8080, Z80, 8086 Digital Research Concurrent DOS,Multiuser DOS Proprietary closed general purpose, industrial defunct 8086, 286, 386, 68000, (also 8080/Z80 in dual-processor variants) Digital Research Contiki BSD open source embedded, WSN active MSP430, AVR, ARM www 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 www Deos Proprietary closed safety critical active x86, PowerPC, MIPS www DioneOS Proprietary available for licensee embedded active MSP430, MSP430x www distortos Mozilla open source embedded active ARMv6-M architecture (ARM Cortex-M0 , ARM Cortex-M0+ , ARM Cortex-M1 ): STM32F0 , STM32L0 ; ARMv7-M architecture (ARM Cortex-M3 , ARM Cortex-M4(F) , ARM Cortex-M7(F) ): STM32F1 , STM32F4 , STM32F7 distortos DNIX Proprietary closed general purpose defunct 68000 ? dnx RTOS GNU GPL , modified GPL, BSD open source embedded (Unix-like ) active ARM Cortex-M3, STM32 www GEC DOSProprietary closed process control defunct GEC 4000 series ? DSOS ? ? ? defunct TI -980A minicomputer? DSP/BIOS Free closed, available with license general purpose maintenance only Mostly Texas Instruments C2800, C5500, C6000 and OMAP DSP cores. Replaced by TI-RTOS , but available for download. www DSPnano RTOS Mixed, open source and commercial open source MCU, DSC, DSP SoC active R8C, M16C, PIC24, dsPIC33 www DuinOS Modified GNU GPL open source general purpose active AVR (Arduino) code eChronos AGPLv3 open source embedded active ARM Cortex-M3 - M7 https://ts.data61.csiro.au/projects/TS/echronos/ eCos Modified GNU GPL open source embedded active ARM-XScale-Cortex-M, CalmRISC, 680x0-ColdFire, fr30, FR-V, H8, IA-32, MIPS, MN10300, OpenRISC, PowerPC, SPARC, SuperH , V8xx ecos eCosPro Modified GNU GPL or eCosPro license open source with non-free portions embedded active ARM7-9, Cortex-A5-A9-M3-M4-M7, 680x0-ColdFire, H8-H8S, IA-32, MIPS32, MIPS64, microMIPS, NIOS II, OpenRISC, PowerPC, SPARC, SH4/4A, TILE-Gx, XScale www embOS Proprietary closed, available to customers embedded, industrial, IoT, safety critical active ARM7/9/11, ARM Cortex-A/R/M, AVR, AVR32, C16x, CR16C, ColdFire, H8, HCS12, M16C, M32C, MSP430, NIOS2, PIC18/24/32, R32C, R8C, RISC-V, RL78, RH850, RX100/200/600/700, RZ, SH2A, STM8, ST7, V850, 78K0, 8051 www Embox BSD open source embedded active ARM , LEON , MicroBlaze , MIPS , PowerPC , x86 github Embkernel GNU LGPL open source embedded active ARM Cortex M sourceforge ERIKA Enterprise Modified GNU 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, AVR, Lattice Mico32, MSP430, Renesas RX200 erika EUROS Proprietary closed embedded active 8/16/32 bit processors: among others AVR, 8051, XC800, 16FX, XC166, ARM, Cortex-M3, PowerPC, Nios II, MIPS32, PIC32 www EROS Modified GNU GPL open source experimental dormant IA-32 www F9 microkernel Modified BSD open source embedded maintenance ARM Cortex-M3/M4 github Femto OS GNU GPLv3 open source embedded active AVR www FlexOS Proprietary closed general purpose, industrial, POS defunct 186, 286, 386, V60, V70, 68000 Digital Research, Novell FreeOSEK GNU GPLv3 open source embedded active Cortex-M4, MIPS, MSP430, SPARC LEON3 github FreeRTOS MIT open source embedded active ARM, AVR, AVR32, ColdFire, HCS12, IA-32, Cortex-M3-M4-M7, MicroBlaze, MSP430, PIC, PIC32, Renesas H8/S, RX100-200-600-700, 8052, STM32, EFM32 www Frosted GNU GPL open source embedded, POSIX compliant, unix-like active ARM Cortex-M github Fuchsia Varies open source embedded active ? fuchsia.googlesource.com FunkOS modified Sleepycat License open source embedded active AVR, MSP430, Cortex-M3 funkos Fusion RTOS Free ? semi-general purpose active ARM, Blackfin, StarCore, DSP 56800E FX-RTOS Proprietary source code provided embedded active ARMv6-M (Cortex-M0/M1), ARMv7-M (Cortex-M3), ARMv7-A (including Cortex A9 MPCore), x86, AVR32, PIC32, MIPS M4K, TI MSP430 rtos , fxrtos HeartOS Proprietary closed safety critical active x86, PowerPC, ARM www Helium GNU LGPL open source Embedded Active HCS08, AVR helium HP-1000/RTE ? ? ? ? ? www Hybridthreads ? open source FPGA active Xilinx Virtex-II Pro ML310, Xilinx Virtex-II Pro XUP hthreads hyperCOS ? free evaluation (not open source) embedded active ARM7, ARM9, Cortex-R, Cortex-M3, Cortex-M4F socware IBM 4680 OS Proprietary closed general purpose, industrial, POS defunct 286 IBM (DR Concurrent DOS 286 derivative) IBM 4690 OS Proprietary closed general purpose, industrial, POS active 286, 386 IBM (DR FlexOS 286/386 derivative) Integrity Proprietary closed embedded active ARM, XScale , Blackfin , ColdFire, MIPS, PowerPC, x86 www INtime Proprietary closed embedded active x86 www IntrOS MIT open source embedded, small footprint active ARM Cortex-M, STM8, AVR8 github ITRON , μITRON Varies varies embedded active ARM, MIPS, x86, Renesas RX100-200-600-700-others www , www ISIX GNU LGPL open source embedded active Cortex-M3 bryndza.boff.pl/index.php?dz=rozne&id=isixrtos iRTOS GNU LGPL open source embedded active AVR, ARM7 irtos KolibriOS GNU GPL open source embeddable active x86 www Kithara RTS Proprietary closed general purpose, industrial active Windows extension, x86, x86-64, Windows XP-10 www Lepton Mozilla open source embeddable active ARM9 (ATMEL AT91SAM9261, AT91SAM9260), ARM7 (ATMEL AT91SAM7x, AT91SAM7SE, AT91M55800), CortexM3 (ST STM32F103, Texas Instrument Stellaris) et CortexM4 (Freescale Kinetis) github LithOS Proprietary ? embedded, industrial active LEON2-3-4, x86 www , www LynxOS Proprietary source code available embedded active Motorola 68010 , x86/IA-32, ARM, Freescale PowerPC, PowerPC 970 , LEONwww Mark3 BSD open source embedded active, beta ? www MaRTE OS GNU GPL open source embedded active IA-32 marte MAX II,IV Proprietary ? ? ? MODCOMP II, IV, ...? mbed-rtos MIT open source embedded active Cortex-M, Cortex-R mbed MenuetOS GNU GPL open source ? active IA-32 www Menuet 64 Proprietary unknown ? active IA-32, x86-64 ? MicroC/OS-II Proprietary Available under license embedded active ARM7-9-11/Cortex-M1-3-4-A8/9, AVR, HC11/12/S12, ColdFire, Blackfin, MicroBlaze, NIOS, 8051, x86, Win32, H8S, M16C, M32C, MIPS, 68000, PIC24-dsPIC33-PIC32, MSP430, PowerPC, SH, StarCore, Renesas RX100-200-600-700, RL; STM32, … micrium MicroC/OS-III Proprietary Available under license embedded active ARM7-9-11/Cortex-M1-3-4-A8/9, AVR, HC11/12/S12, ColdFire, Blackfin, MicroBlaze, NIOS, 8051, x86, Win32, H8S, M16C, M32C, MIPS, 68000, PIC24/dsPIC33/PIC32, MSP430, PowerPC, SH, StarCore, Renesas RX100-200-600-700, RL; STM32, … micrium Milos GNU GPL open source embedded active Cortex-M3 www miosix GNU GPL open source embedded active stm32, efm32 e LPC2000 www mipOS Proprietary open source embedded active Cortex-M3, ST7, STM8, x86 sites Microsoft Invisible Computing (MMLite) Proprietary open source embedded active ARM7-9, i386, h8, mips, Trimedia, eCog1 research mLithOS Proprietary ? embedded, industrial active LEON2-3-4, x86 www , www MP/M Proprietary closed (meanwhile: open source) general purpose, industrial defunct 8080, Z80, 8086 Digital Research MQX Proprietary complimentary source code available embedded active Freescale Power, ColdFire, Kinetis Cortex ARM, List of Freescale products www MERT ? ? ? inactive PDP-11 ? Multiuser DOS Proprietary closed general-purpose, industrial defunct 386 Digital Research/Novell, Concurrent Controls, Datapac, IMS (see REAL/32) Nano-RK Mixed open source embedded, WSN active AVR, MSP430 www Neutrino Proprietary some source code provided microkernel active ARM, MIPS, PPC, SH, x86, XScale www NI Linux Real-Time Proprietary developed from open source data acquisition and process control active National Instruments CompactRIO controllers www nOS Mozilla open source embedded active AVR , MSP430 , Cortex-M0-M3-M4 , M16C , RX600 , PIC24 , Win32 , POSIX , STM8 github Nucleus RTOS Proprietary source code provided embedded active ARM (Cortex-M3-M4-R4-R4F-A8-A9, ARM7-9-11), PowerPC, MIPS32-16e, microMIPS, ColdFire, SuperH www Nut/OS BSD open source embedded, industrial active AVR, AVR32, ARM7 , ARM9 , Cortex-M3 www NuttX BSD open source embedded, small footprint active Linux user mode, ARM7-9, Cortex-A5-A8-A9-M0-M3-M4-M7, 8052 , Espressif ESP32 , Lattice LM32 , Renesas MC16C/26/SH-1, RISC-V , Zilog Z16F, Zilog eZ80 Acclaim!, Zilog Z8Encore!, Z80 , MIPS PIC32MX, PIC32MZ www OpenEPOS Proprietary open source embedded active ARM, x86, AVR, MIPS, PowerPC epos OS20 Proprietary closed embedded (STB) maintenance only ST20 ? OS2000 Proprietary ? embedded active MIPS (Baget-MIPS variant), KOMDIV-32 , KOMDIV-64 , Intel BSPs (x86 architecture )www 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 www OSA BSD open source embedded active PIC10-PIC24, AVR 8-bit, STM8 wiki OSE Proprietary available to customers general purpose active ARM, PowerPC, x86, TI OMAP, … www OS-9 Proprietary available to customers embedded active ARM-strongARM, MIPS, PowerPC, SuperH, x86/Pentium, XSCALE, Motorola 6809 , 680x0, SPARC www OSEK Mixed, open source and commercial specification embedded active engine control units www (not working for a while), better refer to www.autosar.org Partikle Proprietary ? embedded, industrial active LEON2-3-4, x86 www , www Phar Lap ETS ? ? ? ? ? ? PaulOS GNU GPL open source embedded ? ? paulos PICOS18 GNU GPL open source embedded ? PIC18 ? picoOS Modified BSD open source embedded maintenance 6502, 80x86, ARM7, AVR, PowerPC,Cortex-M,MSP430,PIC32 picoos ,github Piko/RT Modified BSD open source embedded active ARM Cortex-M3/M4 github Pharos Apache 2.0 open source embedded, industrial, safety critical active ARM926 with MMU, Cortex-R5 and Cortex-M4 with MPU sourceforge Phoenix-RTOS Proprietary ? embedded ? ARM7, IA-32, eSI-RISC www PikeOS Proprietary available to customers safety critical, virtualization active PPC, x86, ARM, MIPS, SPARC-LEON, SuperH www Portos Proprietary source code provided embedded, small footprint active (ARM soon) www POK BSD open source embedded active x86, PowerPC, SPARC pok PowerTV Proprietary ? ? ? ? www Prex BSD open source microkernel active ARM, IA-32 prex Protothreads BSD open source general purpose active Architecture independent dunkels pSOS Proprietary ? ? discontinued 680x0 ? QNX Proprietary ? general purpose, medical devices active IA-32, MIPS, PowerPC, SH-4, ARM, StrongARM, XScale www QP Dual, open source and commercial dual MCU, DSC, DSP SoC active ARM7/9, ARM Cortex-M3-M0, MSP430, TMS320C28x, AVR, AVRXmega, ColdFire, 68HC08, M16C/R8C, H8, 8051, 80251, PIC18, PIC24/dsPIC33, Nios II, PSoC1 www Kaspersky OS Proprietary ? safety critical, virtualization active ? ? Data General RDOS Proprietary ? general purpose defunct Data General Nova , Data General Eclipse ? ReaGOS Proprietary closed, available with license embedded active x86, ATmega, ARM, portable www REAL/32 Proprietary closed general-purpose, industrial active 386 IMS (Multiuser DOS derivative) RedHawk Linux (Red Hat compatible) Proprietary closed, available with license embedded active x86, others www Real-time Linux (CONFIG_RT_PREEMPT) GNU GPLv2 open source general purpose active same as Linux www , rt REX OS Proprietary closed, available with license embedded inactive ARM ja:REX OS RIOT GNU LGPL open source embedded active ARM, MSP430, AVR, x86 www RMX Proprietary closed embedded defunct 8080 , 8086 , 80386 or higherwww RODOS BSD source code provided embedded active ARMv7 (M3, A8, A9), AVR32 , PowerPC 405 , sparc64 Platforms: SmartFusion2 , RaspberryPi , STM32 On top of OS: Linux , Windows , MacOS , FreeRTOS , RTems
rodos download 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 www 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 rtems RTLinux GNU GPL open source general purpose inactive same as Linux n/a RT-Thread GNU GPLv2 open source embedded active ARM, ARM Cortex-M0-M3-R4-M4-M7, IA-32, AVR32, Blackfin, nios, PPC, M16C, MIPS (loongson-1b-1c, PIC32，xburst), MicroBlaze, V850, unicore32, code , www RTXC Quadros Proprietary source available embedded active ARM - Atmel/Freescale/NXP/ST /TI, Blackfin , 680x0-ColdFire, PowerPC, StarCore, TI-Luminary Stellaris, TI OMAP, XScale www RTX, RTX64 Proprietary closed MS Windows extension active x86, x86-64 www RTX Keil Real-Time Operating System Proprietary , royalty freesource available embedded active ARM www Ruff Proprietary closed embedded,general purpose, industrial, IoT active ARM, MIPS, x86 ruff RX116 ? ? embedded, industrial defunct NEC V20 , NEC V30 , NEC V40 , NEC V50 first ITRON 1 compatible 16-bit RTOS RX616 ? ? safety critical, embedded, industrial defunct NEC V60 , NEC V70 32-bit ITRON compatible RX-UX832 ? ? embedded, industrial, general-purpose defunct NEC V60, NEC V70 32-bit Unix-like RTOS SafeRTOS Proprietary source code & Design Assurance Pack available embedded, safety critical active Same as FreeRTOS Same as FreeRTOS SCIOPTA Proprietary closed, source available embedded, safety related active ARM, Cortex-M0-M3-M4, Cortex-R4 , Cortex-A5, Cortex-A7, Cortex-A9, Cortex-53, XScale , Renesas RX100, RX200, RX600, RX700, PowerPC, ColdFire, HCS12 , M16C , Windows (simulation), Aurix TC2xx, BlackFin BF52x, BF70x www scmRTOS Free open source embedded active ARM, Cortex-M3, Blackfin , MSP430, AVR, STM8 scmrtos SDPOS GNU LGPL open source embedded active ARM, Cortex-M3, Blackfin, PIC18, PIC24, i386 win32/linux synthetic targets www SHaRK GNU GPL open source ? inactive ? shark silRTOS Free open source embedded active ARM, Cortex-M3 Cortex-A9 ARM-11MP , Blackfin , MIPS, AVR spanidea Simba MIT open source embedded active, beta Arduino Nano (AVR), Arduino Mega (AVR), Arduino Due (ARM), ESP8266, ESP32, cygwin/linux simba-os SimpleAVROS GNU GPLv3 open source embedded active, beta AVR only n/a SINTRAN III ? ? ? ? Norsk Data computersn/a SOOS Project Free open source embedded active, beta H8/300 www StateOS MIT open source embedded, small footprint active ARM Cortex-M, STM8 github Stratify OS Modified GNU GPL or proprietaryopen source embedded active ARM Cortex-M3, M4 stratifylabs Symbian OS Eclipse open source embedded defunct ARM www Talon DSP RTOS Proprietary ? embedded DSP active TMS320 www TargetOS Proprietary available to customers embedded active ARM, Cortus, Freescale ColdFire, PowerPC www T-Kernel T-License source available embedded RTOS active ARM, MIPS, SH, more www THEOS ? ? ? ? ? www ThreadX Proprietary available to customers ? active ARC, ARM/Thumb, AVR32, BlackFin, 680x0-ColdFire, H8-300H, Luminary Micro Stellaris, M-CORE, MicroBlaze, PIC24-dsPIC, PIC32, MIPS, V8xx, Nios II, PowerPC, Renesas RX100, RX200, RX600, RX700, Synergy, SH, SHARC, StarCore, STM32, StrongARM, TMS320C54x, TMS320C6x, x86/x386, XScale, Xtensa/Diamond, ZSP rtos TizenRT Apache 2.0 open source embedded active ARM github TI-RTOS Kernel (SYS/BIOS)BSD open source embedded active Mostly Texas Instruments: MSP430-432, C2000-5000-6000, TI's ARM families (Cortex M3-4F-R4-A8-A15), SimpleLink Wireless CC2xxx-CC3xxx www Tockos Apache 2.0 open source embedded active ARM Cortex https://www.tockos.org Trampoline Operating System (OSEK and AUTOSAR) GNU GPLv2 open source embedded active AVR, H8-300H, POSIX, NEC V850e, ARM7, Infineon C166, HCS12 or PowerPC trampoline TNKernel BSD open source embedded active ARM, PIC24-32-dsPIC, HCS08, STM32 (Cortex-M3) www TNeo BSD open source embedded active Cortex-M0-M0+-M1-M3-M4-M4F, PIC24-32-dsPIC github Transaction Processing Facility Proprietary ? general purpose active IBM System/360 derivativeswww TRON project Free mixed mixed active any: is a specification, not an implementation www TUD:OS GNU GPL open source ? active ARM, IA-32, x86-64 demo Unison RTOS Mixed, open source and commercial open source MCU, DSC, DSP SoC, FPGA active Pic32, ARM Cortex (TI Stellaris Tiva Sitara, ST STM32, NXP LPC1X00, Freescale iMX6 Kinetis, Renesas RZ, RX600, SH2A, SH2AFPU, R32C, MIPS4K, {SHARC, ColdFire, Xilinx MicroBlaze, proprietary} www UNIX-RTR ? ? ? defunct PDP-11 ? uSmartx BSD open source embedded ? ARM7TDMI, AVR, H8 usmartx u-velOSity Proprietary ? microkernel active ? www velOSity ? ? ? active Power Architecture, ARM/XScale, MIPS, x86/Pentium, ColdFire, Blackfin, OMAP, DaVinci www VRTX Proprietary ? ? superseded by Nucleus RTOS ARM, MIPS, PowerPC, RISC www VxWorks Proprietary ? embedded active ARM, IA-32, Intel 64, MIPS, PowerPC, SH-4, StrongARM, xScale www Windows CE Proprietary Microsoft Shared Source embedded active x86, MIPS, ARM, SuperH www Xenomai GNU GPLv2 open source general active x86, x86-64, PowerPC, ARM, Analog Devices Blackfin BF52x, BF53x, BF54x and BF56x gna XMK BSD open source embedded inactive-beta ? www Simulink Real-Time Proprietary closed real-time testing-embedded active x86 www Y@SOS GNU LGPL open source embedded active Cortex-M3, STM32 www MontaVista Linux GNU GPL open source embedded active ? www UNOS ? ? ? historic 680x0 ? uOS GNU GPL open source embedded active AVR, ARM, MIPS32, MSP430, Intel i386, Linux386 code Zephyr Apache 2.0 open source embedded active x86, ARM, ARC, NIOS2, XTensa, RISC V 32 www
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