RK0 is a lean yet feature-rich, highly deterministic Real-Time Kernel for deeply embedded systems.
Current Version: 0.73.0-dev (ARMv6/7-M)
The design distinction is its interaction-oriented service model.
RK0ish application code describes how tasks interact rather than delegating to application code to compose generic services. Recurring coordination patterns for real-time applications are totally defined by the relationship between concurrency entities (Tasks) and optimised to handle worst-case scenarios. That’s real real-time. The Docbook provides comprehensive design rationale, internals and usage.