Comparison of real-time operating systems

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This is a list of real-time operating systems. An RTOS is an operating system in which the maximum time from an input stimulus to an output response can be definitely determined.


Name License Source model Target uses Status Platforms Official site
Abassi Proprietary closed embedded active AVR32, ATmega, ColdFire, Cortex-A9, Cortex-M0, Cortex-M3, Cortex-M4, MSP430, PIC32, TMS320C2000, 80251, 8051 [1]
AMOS Proprietary  ? commercial closed 680x0, 683xx, x86 via emulation [2]
AMX RTOS Proprietary closed embedded active 680x0, 683xx, ARM, ColdFire, MIPS32, PowerPC [3]
uKOS GNU GPL open source embedded active Cortex-M3-M4, 6833x, PIC, CSEM icyflex-1, STM32 [4]
ARTOS (Locamation) Proprietary closed power-system automation active x86 [5]
ARTOS (Robotu) Proprietary  ? embedded, robots defunct ARM9+ [6]
Atomthreads BSD license open source embedded active AVR, STM8, ARM, MIPS [7]
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 [8]
BeRTOS modified GNU GPL open source embedded active ARM, Cortex-M3, ARM ARM7TDMI, Atmel AVR, PowerPC (emu), x86 (emu), x86-64 (emu) [9]
BRTOS MIT License 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 [10]
CapROS GNU GPL open source embedded active IA-32, ARM9 [11]
ChibiOS/RT Modified GNU GPL or proprietary open source embedded, small footprint active x86, ARM7, ARM9, Cortex-M0-M3-M4, PowerPC e200z, STM8, AVR, MSP430, ColdFire, H8S [12] [13]
ChorusOS  ?  ?  ?  ? SPARC, x86, PowerPC [14]
ChronOS GNU GPL open source research, general purpose active x86, ARM [15]
CoActionOS Modified GNU GPL or proprietary open source embedded active ARM Cortex-M3, LPC17xx [16]
cocoOS BSD license open source embedded active AVR, MSP430, STM32 [17]
Concurrent CP/M Proprietary closed (meanwhile: open source) general purpose, industrial defunct 8080, Z80, 8086 Digital Research
Concurrent DOS Proprietary closed general purpose, industrial defunct 8086, 286, 386, 68000, (also 8080/Z80 in dual-processor variants) Digital Research
Contiki BSD license open source embedded, WSN active MSP430, AVR, ARM [18]
COS Proprietary closed process control defunct GEC 4000 series  ?
CooCox CoOS BSD license open source general purpose active STM32, NXP LPC1000, TI LM3S8962, Nuvoton NU1xx,Holtek HT32 [19]
Deos Proprietary closed safety critical active x86, PowerPC, MIPS [20]
DioneOS Proprietary available for licensee embedded active MSP430, MSP430x [21]
distortos Mozilla Public License open source embedded active Cortex-M3-M4, STM32 [22]
DNIX Proprietary closed general purpose defunct 68000  ?
dnx RTOS GNU GPL, modified GNU GPL, and BSD license open source embedded (Unix-like) active ARM Cortex-M3, STM32 [23]
GEC DOS Proprietary closed process control defunct GEC 4000 series  ?
DSOS  ?  ?  ? defunct TI-980A minicomputer  ?
DSP/BIOS free closed, available with license general purpose maintenance only Primarily Texas Instruments C2800, C5500, C6000 and OMAP DSP cores. Replaced by TI-RTOS, but available for download. [24]
DSPnano RTOS open source and commercial open source MCU, DSC, DSP SoC active R8C, M16C, PIC24, dsPIC33 [25]
DuinOS Modified GNU GPL open source general purpose active AVR (Arduino) [26]
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 [27]
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 [28]
embOS Proprietary closed embedded active 8/16/32 bit processors [29]
Embox BSD license open source embedded active ARM, LEON, MicroBlaze, x86 [30]
Embkernel GNU LGPL open source embedded active ARM Cortex M [31]
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 [32]
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 [33]
EROS Modified GNU GPL open source experimental
research use		 dormant IA-32 [34]
Femto OS GNU GPLv3 open source embedded active AVR [35]
FlexOS Proprietary closed general purpose, industrial, POS defunct 186, 286, 386, V60, V70, 68000 Digital Research/Novell
FreeOSEK GNU GPLv3 open source embedded active POSIX, Windows, ARM7 [36]
FreeRTOS Modified GNU GPL open source embedded active ARM, AVR, AVR32, ColdFire, HCS12, IA-32, Cortex-M3-M4-M7, MicroBlaze, MSP430, PIC, PIC32, Renesas H8/S, 8052, STM32, EFM32 [37]
FunkOS modified Sleepycat License open source embedded active AVR, MSP430, Cortex-M3 [38]
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 [39][40]
HeartOS Proprietary closed safety critical active x86, PowerPC, ARM [41]
Helium GNU LGPL open source Embedded Active Open-Source RTOS for HCS08 & AVR MCUs [42]
HP-1000/RTE  ?  ?  ?  ?  ? [43]
Hybridthreads  ? open source FPGA active Xilinx Virtex-II Pro ML310, Xilinx Virtex-II Pro XUP [44]
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 [45]
INtime Proprietary closed embedded active x86 [46]
ITRON, µITRON varies varies embedded active ARM, MIPS, x86, and others [47], [48]
ISIX GNU LGPL open source embedded active Cortex-M3 [49]
iRTOS GNU LGPL open source embedded active AVR, ARM7 [50]
KolibriOS GNU GPL open source embeddable active x86 [51]
Kithara RTS Proprietary closed general purpose, industrial active Windows extension, x86, x86-64, Windows XP-10 [52]
Lepton Mozilla Public License open source embeddable active ARM9 (ATMEL AT91SAM9261, AT91SAM9260), ARM7 (ATMEL AT91SAM7x, AT91SAM7SE, AT91M55800), CortexM3 (ST STM32F103, Texas Instrument Stellaris) et CortexM4 (Freescale Kinetis) [53]
LithOS Proprietary  ? embedded, industrial active LEON2-3-4, x86 [54] [55]
LynxOS Proprietary source code available embedded active Motorola 68010, x86/IA-32, ARM, Freescale PowerPC, PowerPC 970, LEON [56]
Mark3 BSD license open source embedded active, beta  ? [57]
MaRTE OS GNU GPL open source embedded active IA-32 [58]
MAX II,IV Proprietary  ?  ?  ? Modcomp II, IV, ...  ?
MenuetOS GNU GPL open source  ? active IA-32 [59]
Menuet 64 Proprietary unknown  ? active IA-32, x86-64
Micrium µC/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 RX/RL, STM32, … [60]
Micrium µC/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 RX/RL, STM32, … [61]
Milos GNU GPL open source embedded active Cortex-M3 [62]
mipOS Proprietary open source embedded active Cortex-M3, ST7, STM8, x86 [63]
Microsoft Invisible Computing (MMLite) Proprietary open source embedded active ARM7-9, i386, h8, mips, Trimedia, eCog1 [64]
mLithOS Proprietary  ? embedded, industrial active LEON2-3-4, x86 [65] [66]
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 [67]
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 [68]
Neutrino Proprietary some source code provided microkernel active ARM, MIPS, PPC, SH, x86, XScale [69]
nOS Mozilla Public License open source embedded active AVR, MSP430, Cortex-M0-M3-M4, M16C, RX600, PIC24, Win32, POSIX [70]
Nucleus OS Proprietary source code provided embedded active ARM (Cortex-M3-M4-R4-R4F-A8-A9, ARM7-9-11), PowerPC, MIPS32-16e, microMIPS, ColdFire, SuperH [71]
Nut/OS BSD license open source embedded, industrial active AVR, AVR32, ARM7, ARM9, Cortex-M3 [72]
NuttX BSD license open source embedded, small footprint active Linux user mode, ARM7-9, Cortex-A5-A8-M0-M3-M4-M7, 8052, SH-1, Renesas MC16C/26, Zilog Z16F, Zilog eZ80 Acclaim!, Zilog Z8Encore!, Z80, partial ports for MIPS [73]
OpenEPOS Proprietary open source embedded active ARM, x86, AVR, MIPS, PowerPC [74]
OS20 Proprietary closed embedded (STB) maintenance only ST20  ?
OS2000 Proprietary  ? embedded active MIPS (Baget-MIPS variant), KOMDIV-32, KOMDIV-64, Intel BSPs (x86 architecture) [75]
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 [76]
OSA BSD license open source embedded active PIC10-PIC24, AVR 8-bit, STM8 [77]
OSE Proprietary closed general purpose active ARM, PowerPC, MIPS, IXP2400, TI OMAP, … [78]
OS-9 Proprietary available to customers embedded active ARM-strongARM, MIPS, PowerPC, SuperH, x86/Pentium, XSCALE, Motorola 6809, 680x0, SPARC [79]
OSEK n/a specification embedded active engine control units [80]
Partikle Proprietary  ? embedded, industrial active LEON2-3-4, x86 [81] [82]
Phar Lap ETS  ?  ?  ?  ?  ?  ?
PaulOS GNU GPL open source embedded  ?  ? [83]
PICOS18 GNU GPL open source embedded  ? PIC18  ?
picoOS Modified BSD license open source embedded discontinued 6502, 80x86, ARM7, AVR, PowerPC [84]
Phoenix-RTOS Proprietary embedded  ? ARM7, IA-32, eSI-RISC [85]
PikeOS Proprietary available to customers safety critical, virtualization active PPC, x86, ARM, MIPS, SPARC-LEON, SuperH [86]
Portos Proprietary source code provided embedded, small footprint active (ARM soon) [87]
POK BSD Licence open source embedded active x86, PowerPC, SPARC [88]
PowerTV Proprietary  ?  ?  ?  ? [89]
Prex BSD license open source microkernel active ARM, IA-32 [90]
Protothreads BSD license open source general purpose active Architecture independent [91]
pSOS Proprietary  ?  ? discontinued 680x0  ?
QNX Proprietary  ? general purpose active IA-32, MIPS, PowerPC, SH-4, ARM, StrongARM, XScale [92]
QP open source and commercial open source 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 [93]
Kaspersky OS Proprietary  ? safety critical, virtualization active  ? [?]
Data General RDOS Proprietary  ? general purpose defunct Data General Nova, Data General Eclipse n/a
ReaGOS Proprietary closed, available with license embedded active x86, ATmega, ARM, portable [94]
REAL/32 Proprietary closed general-purpose, industrial active 386 IMS (Multiuser DOS derivative)
RedHawk Linux (compatible with Red Hat) Proprietary closed, available with license embedded active x86, others [95]
Real-time Linux (CONFIG_RT_PREEMPT) GNU GPLv2 open source general purpose active same as Linux [96] wiki
REX OS Proprietary closed, available with license embedded inactive ARM ja:REX OS
RIOT GNU LGPL open source embedded active ARM, MSP430 [97]
RMX Proprietary closed embedded active 8080, 8086, 80386 or higher [98]
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 [99]
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 [100]
RTLinux GNU GPL open source general purpose inactive same as Linux n/a
RT-Thread GNU GPLv2 open source embedded active ARM, IA-32, AVR32, M16C, MIPS [101][102]
RTXC Quadros Proprietary source available embedded active ARM - Atmel/Freescale/NXP/ST/TI, Blackfin, 680x0-ColdFire, PowerPC, StarCore, TI-Luminary Stellaris, TI OMAP, XScale [103]
RTX, RTX64 Proprietary closed MS Windows extension active x86, x86-64 [104]
RTX Keil Real-Time Operating System proprietary, royalty free source available embedded active ARM [105]
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
SCIOPTA Proprietary closed, source available embedded, safety related active ARM, Cortex-M0-M3-M4, Cortex-R4, Cortex-A9, XScale, Renesas RX, PowerPC, ColdFire, HCS12, M16C, Windows (simulation) [106]
scmRTOS free open source embedded active ARM, Cortex-M3, Blackfin, MSP430, AVR, STM8 [107]
SDPOS GNU LGPL open source embedded active ARM, Cortex-M3, Blackfin, PIC18, PIC24, i386 win32/linux synthetic targets [108]
SHaRK GNU GPL open source  ?  ?  ? [109]
silRTOS free open source embedded active ARM, Cortex-M3 Cortex-A9 ARM-11MP, Blackfin, MIPS, AVR [110]
Simba GNU LGPL open source embedded active, beta Arduino Nano (AVR), Arduino Mega (AVR), Arduino Due (ARM) [111]
SimpleAVROS GNU GPLv3 open source embedded active, beta AVR only n/a
SINTRAN III  ?  ?  ?  ? Norsk Data computers n/a
SOOS Project free open source embedded active, beta H8/300 [112]
Symbian OS Eclipse Public License open source embedded defunct ARM [113]
Talon DSP RTOS Proprietary  ? embedded DSP active TMS320 [114]
TargetOS Proprietary available to customers embedded  ? ARM, Freescale ColdFire, PowerPC [115]
T-Kernel free under T-License source available embedded RTOS active ARM, MIPS, SH, more [116]
THEOS  ?  ?  ?  ?  ? [117]
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, SH, SHARC, StarCore, STM32, StrongARM, TMS320C54x, TMS320C6x, x86/x386, XScale, Xtensa/Diamond, ZSP [118]
TI-RTOS Kernel (SYS/BIOS) BSD license open source embedded active Primarily Texas Instruments: MSP430-432, C2000-5000-6000, TI's ARM families (Cortex M3-4F-R4-A8-A15), SimpleLink Wireless MCUs (CC2xxx, CC3xxx) [119]
Trampoline Operating System (OSEK and AUTOSAR) GNU GPLv2 open source embedded active AVR, H8-300H, POSIX, NEC V850e, ARM7, Infineon C166, HCS12 or PowerPC [120]
TNKernel BSD licenses open source embedded active ARM, PIC24-32-dsPIC, HCS08, STM32 (Cortex-M3) [121]
TNeo BSD licenses open source embedded active Cortex-M0-M0+-M1-M3-M4-M4F, PIC24-32-dsPIC [122]
Transaction Processing Facility Proprietary  ? general purpose active IBM System/360 derivatives [123]
TRON project open? mixed mixed active any: not an implementation, but a specification [124]
TUD:OS GNU GPL open source  ? active ARM, IA-32, x86-64 [125]
Unison RTOS 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), RX6x SH2A, SH2AFPU, R32C, MIPS4K, {SHARC, ColdFire, Xilinx MicroBlaze, proprietary} [126]
UNIX-RTR  ?  ?  ?  ? PDP-11  ?
uSmartx BSD license open source embedded  ? ARM7TDMI, AVR, H8 [127]
µTasker Proprietary Open-code. Free for non-commercial or with support license embedded active Freescale Kinetis, ColdFire M522XX; Atmel AVR32-SAM7X, TI Stellaris, NXP LPC2000, NXP LPC1700, ST-Micro STM32 (F1/F2/F4), ST-Micro STR91X, Freescale NE64, Windows (processor and peripheral simulation) [128]
u-velOSity  ?  ? microkernel active  ? [129]
velOSity  ?  ?  ? active Power Architecture, ARM/XScale, MIPS, x86/Pentium, ColdFire, Blackfin, OMAP, DaVinci [130]
VRTX Proprietary  ?  ? superseded by Nucleus RTOS ARM, MIPS, PowerPC, RISC [131]
VxWorks Proprietary  ? embedded active ARM, IA-32, Intel 64, MIPS, PowerPC, SH-4, StrongARM, xScale [132]
Windows CE Proprietary Microsoft Shared Source embedded active x86, MIPS, ARM, SuperH [133]
Xenomai GNU GPLv2 open source general active x86, x86-64, PowerPC, ARM, Analog Devices Blackfin BF52x, BF53x, BF54x and BF56x [134]
XMK BSD license open source embedded inactive-beta  ? [135]
Simulink Real-Time Proprietary closed real-time testing-embedded active x86 [136]
Y@SOS GNU LGPL open source embedded active Cortex-M3, STM32 [137]
MontaVista Linux GNU GPL open source embedded active  ? [138]
UNOS  ?  ?  ? historic 680x0  ?
uOS GNU GPL open source embedded active AVR, ARM, MIPS32, MSP430, Intel i386, Linux386 [139]

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