If it's running on MMU-less systems, I'd be interested in how it loads multiple programs into memory: does it need to relocate each program binary? If so, doesn't that preclude using execute-in-place (XIP)?
MCUs with MMUs are starting to appear, such as the ESP32-S31.
It is based on FreeRTOS, so it should be fairly well documented.
This seems strange to me. Don't most microcontrollers support executing directly from flash? Some even can't execute from RAM.
Though I agree with the main point, you can compile code as "PIC" - position independent code, and not bother with (ELF) relocations except for linking.
Yes... I presume they meant XIP for multiple programs at once, since you'd need an MMU for that.
Or PIC code... PalmOS 5 & 6 allowed multiple programs in same memory and they were simply compiled pic. MMU was not used
Some architectures (ARM, RISCV, aarch64) are well suited for this kind of code. Others are extremely poorly suited (x86, MIPS), but all CAN do it