gliwOS
Initially developed for internal purposes, the real-time operating system gliwOS has now been tried and tested in several customer projects.
As such, gliwOS is a simple to use and yet powerful scheduler, offering the following core features:
Easy configuration through a single header
Optimisation at compile-time for maximum
  speed and minimum memory consumption
Two task priorities (high and low)
Static and dynamic periodical tasks
Error handling including CPU-overload detection
Background processing
Source code is available to the user, thus easy
  debugging and “full control”
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