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No mention of ChibiOS, unfortunately. I checked and the port still has problems installing on flash, so runs on RAM only.

I’d also like to suggest uC/OS. It doesn’t take much more than setting a timer in asm to port that rtos but I haven’t had the time myself to try it.

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I really like ChibiOS, it’s HAL and drivers are really nice. I used it in a project back when it was GPL with a linking exception (basically LGPL except you can’t really do shared libraries on microcontrollers).

I've heard of uC/OS and always wondered - is it pronounced "mucous"?

The author mentioned this somewhere in his book: competitors pronounced it mucous as a joke/jab. I believe it’s pronounced micro-cos as in microcosmos.

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