实时操作系统比较

下表是实时操作系统的列表。RTOS是处理一次输入刺激的时间小于待到同类型的下一次输入刺激的流逝时间的一种操作系统。

名称｜许可证｜源代码模式｜目标用途｜状态｜平台｜官方网站

Abassi｜专有｜封闭｜嵌入式｜活跃｜AVR32, ATmega, ColdFire, Cortex-A9, Cortex-M0, Cortex-M3, Cortex-M4, MSP430, PIC32, TMS320C2000, 80251, 8051｜www.code-time.com/products.html

AMOS｜专有｜未知｜商业｜关闭｜680x0, 683xx, x86 通过模拟器｜www.alphamicro.com

AMX RTOS｜专有｜封闭｜嵌入式｜活跃｜680x0, 683xx, ARM, ColdFire, MIPS32, PowerPC｜www.kadak.com/rtos/rtos.htm

Apache Mynewt｜Apache 2.0｜开放｜嵌入式｜活跃｜ARM Cortex-M, MIPS32, Microchip PIC32, RISC-V｜mynewt.apache.org

Arm Mbed OS｜Apache 2.0｜开放源代码｜嵌入式｜活跃｜Cortex-M, Cortex-R, Cortex-A｜os.mbed.com

uKOS｜GNU GPL｜开放源代码｜嵌入式｜活跃｜Cortex-M3-M4-M7-H7, 6833x, PIC, CSEM icyflex-1, STM32｜www.ukos.ch

ARTOS (Locamation)｜专有｜封闭｜电力系统自动化｜活跃｜x86｜www.locamation.com/

ARTOS (Robotu)｜专有｜未知｜嵌入式, 机器人｜终止｜ARM9+｜www.robotu.com/ARTOS/Welcome.html

Atomthreads｜BSD｜开放源代码｜嵌入式｜活跃｜AVR, STM8, ARM, MIPS｜atomthreads.com

AVIX｜专有｜封闭｜嵌入式｜活跃｜Atmel AT91SAM3(U/S), EFM32, NXP LPC1300-1700, ST Micro STM32, Texas Instruments LM3S, Toshiba TMPM330, Microchip PIC32MX-PIC24F-PIC24H-dsPIC30F-dsPIC33F｜www.avix-rt.com

BeRTOS｜修改的 GNU GPL｜开放源代码｜嵌入式｜活跃｜ARM, Cortex-M3, ARM ARM7TDMI, Atmel AVR, PowerPC (模拟), x86 (模拟), x86-64 (模拟)｜www.bertos.org

BOOS Core｜GNU GPL｜开放源代码｜嵌入式｜活跃｜ARMv5TEJ (TI AM18x), DSP (TI TMS320C64x)｜www.baigudin.software/boos/

BRTOS｜MIT｜开放源代码｜嵌入式｜活跃｜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, Microchip PIC18｜https://github.com/brtos/brtos

CapROS｜GNU GPL｜开放源代码｜嵌入式｜活跃｜IA-32, ARM9｜www.capros.org

ChibiOS/RT｜混合, GNU GPL 或专有｜开放源代码｜嵌入式, 小量内存占用｜活跃｜x86, ARM7, ARM9, Cortex-M0-M3-M4, PowerPC e200z, STM8, STM32, AVR, MSP430, ColdFire, H8S｜www.chibios.org/dokuwiki/doku.php, sourceforge.net/projects/chibios

ChorusOS｜未知｜未知｜未知｜终止｜SPARC, x86, PowerPC｜docs.sun.com/app/docs/prod/chorus5

ChronOS｜GNU GPL｜开放源代码｜研究, 通用｜活跃｜x86, ARM｜chronoslinux.org

CoActionOS (现在的 Stratify OS)｜修改的 GNU GPL 或专有｜开放源代码｜嵌入式｜停止｜ARM Cortex-M3, LPC17xx｜www.coactionos.com

cocoOS｜BSD｜开放源代码｜嵌入式｜活跃｜AVR, MSP430, STM32｜www.cocoos.net

Concurrent CP/M,变成了 MP/M｜专有｜封闭 (同时开放源代码)｜通用, 工业｜历史上的｜8080, Z80, 8086｜Digital Research

Concurrent DOS,变成了 Multiuser DOS｜专有｜封闭｜通用, 工业｜终止｜8086, 286, 386, 68000, (还有 8080/Z80 双处理器变体)｜Digital Research

Contiki｜BSD｜开放源代码｜嵌入式, WSN｜活跃｜MSP430, AVR, ARM｜www.contiki-os.org

COS｜专有｜封闭｜过程控制｜终止｜GEC 4000 series｜未知

CooCox CoOS｜BSD｜开放源代码｜通用｜活跃｜STM32, NXP LPC1000, TI LM3S8962, Nuvoton NU1xx,Holtek HT32｜www.coocox.org/CoOS.htm 此原始官网已失效, 已移至 github.com/coocox/CoOS

Deos｜专有｜封闭｜安全关键｜活跃｜x86, PowerPC, MIPS｜www.ddci.com/products_deos.php

DioneOS｜专有｜在许可证下可获得｜嵌入式｜活跃｜MSP430, MSP430x｜www.elesoftrom.com.pl/en/os

distortos｜Mozilla｜开放源代码｜嵌入式｜活跃｜ARMv6-M 架构 (ARM Cortex-M0, ARM Cortex-M0+, ARM Cortex-M1): STM32F0, STM32L0; ARMv7-M 架构 (ARM Cortex-M3, ARM Cortex-M4(F), ARM Cortex-M7(F)): STM32F1, STM32F4, STM32F7, STM32L4｜distortos.org

DNIX｜专有｜封闭｜通用｜终止｜68000｜未知

dnx RTOS｜GNU GPL, 修改的 GPL, BSD｜开放源代码｜嵌入式 (类Unix系统)｜活跃｜ARM Cortex-M3, STM32｜www.dnx-rtos.org

GEC DOS｜专有｜封闭｜过程控制｜终止｜GEC 4000 系列｜未知

DSOS｜未知｜未知｜未知｜终止｜TI-980A 小型机｜未知

DSP/BIOS｜免费｜封闭, 在许可证下可获得｜通用｜只维护｜多数 Texas Instruments C2800, C5500, C6000 和 OMAP DSP 核心. 被 TI-RTOS 替代，但仍可下载获取。｜www.ti.com/tool/dspbios

DSPnano RTOS｜混合, 开放源代码和商业｜开放源代码｜MCU, DSC, DSP SoC｜活跃｜R8C, M16C, PIC24, dsPIC33｜www.rowebots.com/products/dspnano

DuinOS｜修改的 GNU GPL｜开放源代码｜通用｜活跃｜AVR (Arduino)｜code.google.com/p/duinos

eChronos｜AGPLv3｜开放源代码｜嵌入式｜活跃｜ARM Cortex-M3 - M7｜https://ts.data61.csiro.au/projects/TS/echronos/

eCos｜修改的 GNU GPL｜开放源代码｜嵌入式｜活跃｜ARM-XScale-Cortex-M, CalmRISC, 680x0-ColdFire, fr30, FR-V, H8, IA-32, MIPS, MN10300, OpenRISC, PowerPC, SPARC, SuperH, V8xx｜ecos.sourceware.org

eCosPro｜修改的 GNU GPL 或 eCosPro license｜开放源代码，带有非免费部分｜嵌入式｜活跃｜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｜www.ecoscentric.com/ecos/ecospro.shtml

embOS｜专有｜封闭, 客户可获得, 对非商业使用免费｜嵌入式, 工业, IoT, 安全关键｜活跃｜ARM7/9/11, ARM Cortex-A/R/M, AVR, AVR32, C16x, CR16C, ColdFire, H8, HCS12, M16C, M32C, MSP430, NIOS2, PIC18/24/32, R32C, R8C, RISC-V, RL78, RH850, RX100/200/600/700, RZ, SH2A, STM8, ST7, V850, 78K0, 8051｜www.segger.com/embos.html

Embox｜BSD｜开放源代码｜嵌入式｜活跃｜ARM, LEON, MicroBlaze, MIPS, PowerPC, x86｜github.com/embox/embox

Embkernel｜GNU LGPL｜开放源代码｜嵌入式｜活跃｜ARM Cortex M｜sourceforge.net/p/embkernel

ERIKA Enterprise｜GPL 和 GPL linking exception｜开放源代码｜嵌入式｜活跃｜ARM7, ARM Cortex-M, ARM Cortex-A (在 Jailhouse hypervisor 上), Hitachi H8, Altera Nios2, Microchip dsPIC (包括 dsPIC30, dsPIC33 和 PIC24), Microchip PIC32, ST Microelectronics ST10, Infineon C167, Infineon Tricore, Freescale PPC e200 (MPC 56xx) (包括 PPC e200 z0, z6, z7), Freescale S12XS, EnSilica eSi-RISC, AVR, Lattice Mico32, MSP430, Renesas RX200, x86-64 (在 Jailhouse hypervisor 上)｜http://www.erika-enterprise.com

EUROS｜专有｜封闭｜嵌入式｜活跃｜8/16/32 bit 处理器: 尤其是 AVR, 8051, XC800, 16FX, XC166, ARM, Cortex-M3, PowerPC, Nios II, MIPS32, PIC32｜www.euros-embedded.com

EROS｜修改的 GNU GPL｜开放源代码｜实验研究用途｜休眠｜IA-32｜www.eros-os.org

F9 微内核｜修改的 BSD｜开放源代码｜嵌入式｜维护｜ARM Cortex-M3/M4｜github.com/f9micro/f9-kernel

Femto OS｜GNU GPLv3｜开放源代码｜嵌入式｜活跃｜AVR｜www.femtoos.org

FlexOS｜专有｜封闭｜通用, 工业, POS｜终止｜186, 286, 386, V60, V70, 68000｜Digital Research, Novell

Flexible Safety RTOS｜专有｜封闭, 对客户可获得｜嵌入式, 安全关键｜活跃｜ARM9, ARM Cortex-M, ARM Cortex-R, ARM Cortex-A, ColdFire, QorIQ, Infineon TriCore, Infineon AURIX｜www.embedded-office.com

FreeOSEK｜GNU GPLv3｜开放源代码｜嵌入式｜活跃｜Cortex-M4, MIPS, MSP430, SPARC LEON3｜https://github.com/ciaa/Firmware

FreeRTOS｜MIT｜开放源代码｜嵌入式｜活跃｜ARM, AVR, AVR32, ColdFire, HCS12, IA-32, Cortex-M3-M4-M7, MicroBlaze, MSP430, PIC, PIC32, Renesas H8/S, RX100-200-600-700, 8052, STM32, EFM32｜www.freertos.org

Frosted｜GNU GPL｜开放源代码｜嵌入式, 遵从POSIX, 类Unix系统｜活跃｜ARM Cortex-M｜https://github.com/insane-adding-machines/frosted

Fuchsia｜多样｜开放源代码｜嵌入式｜活跃｜AArch64, x86-64｜ fuchsia.googlesource.com

FunkOS｜修改的 Sleepycat License｜开放源代码｜嵌入式｜活跃｜AVR, MSP430, Cortex-M3｜funkos.sourceforge.net

Fusion RTOS｜免费｜未知｜准通用｜活跃｜ARM, Blackfin, StarCore, DSP 56800E

FX-RTOS｜专有｜提供源代码｜嵌入式｜活跃｜ARMv6-M (Cortex-M0/M1), ARMv7-M (Cortex-M3), ARMv7-A (including Cortex A9 MPCore), x86, AVR32, PIC32, MIPS M4K, TI MSP430｜rtos.eremex.com/products, fxrtos.ru

HeartOS｜专有｜封闭｜安全关键｜活跃｜x86, PowerPC, ARM｜www.ddci.com/products_heartos.php

Helium｜GNU LGPL｜开放源代码｜嵌入式｜活跃｜HCS08, AVR｜helium.sourceforge.net

HP-1000/RTE｜未知｜未知｜未知｜未知｜未知｜www.hp.com/products1/rte/tech_support/documentation

Hybridthreads｜未知｜开放源代码｜FPGA｜活跃｜Xilinx Virtex-II Pro ML310, Xilinx Virtex-II Pro XUP｜hthreads.csce.uark.edu/wiki/About_Hthreads

hyperCOS｜未知｜免费评估 (不开放源代码)｜嵌入式｜活跃｜ARM7, ARM9, Cortex-R, Cortex-M3, Cortex-M4F｜socware.net

IBM 4680 OS｜专有｜封闭｜通用, 工业, POS｜终止｜286｜IBM (DR Concurrent DOS 286 派生)

IBM 4690 OS｜专有｜封闭｜通用, 工业, POS｜活跃｜286, 386｜IBM (DR FlexOS 286/386 派生)

Integrity｜专有｜封闭｜嵌入式｜活跃｜ARM, XScale, Blackfin, ColdFire, MIPS, PowerPC, x86｜www.ghs.com/products/rtos/integrity.html

INtime｜专有｜封闭｜嵌入式｜活跃｜x86｜www.tenasys.com/intime

IntrOS｜MIT｜开放源代码｜嵌入式, 小量内存占用｜活跃｜ARM Cortex-M, STM8, AVR8｜github.com/stateos/IntrOS

ITRON, µITRON｜多样｜多样｜嵌入式｜活跃｜ARM, MIPS, x86, Renesas RX100-200-600-700-others｜www.tron.org, www.t-engine.org

ISIX｜GNU LGPL｜开放源代码｜嵌入式｜活跃｜Cortex-M3｜ bryndza.boff.pl/index.php?dz=rozne&id=isixrtos

iRTOS｜GNU LGPL｜开放源代码｜嵌入式｜活跃｜AVR, ARM7｜irtos.sourceforge.net

KolibriOS｜GNU GPL｜开放源代码｜可嵌入｜活跃｜x86｜www.kolibrios.org

Kithara RTS｜专有｜封闭｜通用, 工业｜活跃｜Windows 扩展, x86, x86-64, Windows XP-10｜www.kithara.de

Lepton｜Mozilla｜开放源代码｜可嵌入｜活跃｜ARM9 (ATMEL AT91SAM9261, AT91SAM9260), ARM7 (ATMEL AT91SAM7x, AT91SAM7SE, AT91M55800), CortexM3 (ST STM32F103, Texas Instrument Stellaris)，CortexM4 (Freescale Kinetis)｜github.com/lepton-distribution/lepton

LithOS｜专有｜未知｜嵌入式, 工业｜活跃｜LEON2-3-4, x86｜www.fentiss.com, www.xtratum.org

LynxOS｜专有｜源代码可获得｜嵌入式｜活跃｜Motorola 68010, x86/IA-32, ARM, Freescale PowerPC, PowerPC 970, LEON｜www.lynuxworks.com/rtos

Mark3｜BSD｜开放源代码｜嵌入式｜活跃, beta｜未知｜www.mark3os.com

MaRTE OS｜GNU GPL｜开放源代码｜嵌入式｜活跃｜IA-32｜marte.unican.es

MAX II,IV｜专有｜未知｜未知｜未知｜MODCOMP II, IV, ...｜未知

MenuetOS｜GNU GPL｜开放源代码｜未知｜活跃｜IA-32｜www.menuetos.net

Menuet 64｜专有｜未知｜未知｜活跃｜IA-32, x86-64｜未知

MicroC/OS-II｜专有｜在许可证下可获得｜嵌入式｜活跃｜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 RX100-200-600-700, RL; STM32, …｜micrium.com/rtos/ucosii/overview

MicroC/OS-III｜专有｜在许可证下可获得｜嵌入式｜活跃｜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 RX100-200-600-700, RL; STM32, …｜micrium.com/rtos/ucosiii/overview

Milos｜GNU GPL｜开放源代码｜嵌入式｜活跃｜Cortex-M3｜www.milos.it

miosix｜GNU GPL｜开放源代码｜嵌入式｜活跃｜stm32, efm32 e LPC2000｜www.miosix.org

mipOS｜专有｜开放源代码｜嵌入式｜活跃｜Cortex-M3, ST7, STM8, x86｜sites.google.com/site/eantcal/home/mipos

Microsoft Invisible Computing (MMLite)｜专有｜开放源代码｜嵌入式｜活跃｜ARM7-9, i386, h8, mips, Trimedia, eCog1｜research.microsoft.com/invisible

mLithOS｜专有｜未知｜嵌入式, 工业｜活跃｜LEON2-3-4, x86｜www.fentiss.com, www.xtratum.org

MP/M｜专有｜封闭 (同时开放源代码)｜通用, 工业｜终止｜8080, Z80, 8086｜Digital Research

MQX｜专有｜免费赠送源代码可获得｜嵌入式｜活跃｜Freescale Power, ColdFire, Kinetis Cortex ARM｜www.freescale.com/mqx

MERT｜未知｜未知｜未知｜活跃｜PDP-11｜未知

Multiuser DOS｜专有｜封闭｜通用, 工业｜终止｜386｜Digital Research/Novell, Concurrent Controls, Datapac, IMS (参见 REAL/32)

Nano-RK｜混合｜开放源代码｜嵌入式, WSN｜活跃｜AVR, MSP430｜www.nanork.org

Neutrino｜专有｜提供一些源代码｜微内核｜活跃｜ARM, MIPS, PPC, SH, x86, XScale｜www.qnx.com/products/neutrino_rtos

NI Linux Real-Time｜专有｜开发自开放源代码｜数据采集和过程控制｜活跃｜National Instruments CompactRIO 控制器｜http://www.ni.com/white-paper/14627/en/

nOS｜Mozilla｜开放源代码｜嵌入式｜活跃｜AVR, MSP430, Cortex-M0-M3-M4, M16C, RX600, PIC24, Win32, POSIX, STM8｜github.com/jimtremblay/nOS

Nucleus RTOS｜专有｜提供源代码｜嵌入式｜活跃｜ARM (Cortex-M3-M4-R4-R4F-A8-A9, ARM7-9-11), PowerPC, MIPS32-16e, microMIPS, ColdFire, SuperH｜www.mentor.com/embedded-software/nucleus

NUFR｜修改的 BSD｜开放源代码｜嵌入式｜活跃｜ARM (Cortex-M0,-M3,-M4), MSP430, MSP430X (16-位和20-位模式)｜ragingdist.org

Nut/OS｜BSD｜开放源代码｜嵌入式, 工业｜活跃｜AVR, AVR32, ARM7, ARM9, Cortex-M3｜www.ethernut.de/en/firmware/nutos.html

NuttX｜BSD｜开放源代码｜嵌入式, 小量内存占用｜活跃｜Linux 用户模式, ARM7-9, Cortex-A5-A8-A9-M0-M3-M4-M7, 8052, Espressif ESP32, Lattice LM32, Renesas MC16C/26/SH-1, RISC-V , Zilog Z16F, Zilog eZ80 Acclaim!, Zilog Z8Encore!, Z80, MIPS PIC32MX, PIC32MZ｜www.nuttx.org

OpenEPOS｜专有｜开放源代码｜嵌入式｜活跃｜ARM, x86, AVR, MIPS, PowerPC｜epos.lisha.ufsc.br

OS20｜专有｜封闭｜嵌入式 (STB)｜只维护｜ST20｜未知

OS2000｜专有｜未知｜嵌入式｜活跃｜MIPS (Baget-MIPS 变体), KOMDIV-32, KOMDIV-64, Intel BSP (x86 架构)｜www.niisi.ru/otd07.htm

OS21｜专有｜提供源代码｜嵌入式 (STB)｜活跃｜ST40/SH4,ST200,ARM｜未知

OS4000｜专有｜封闭｜过程控制｜只维护｜GEC 4000 系列｜未知

OpenRTOS｜专有｜源代码可获得｜嵌入式｜活跃｜同于 FreeRTOS｜www.highintegritysystems.com/rtos/openrtos

OSA｜BSD｜开放源代码｜嵌入式｜活跃｜PIC10-PIC24, AVR 8-bit, STM8｜wiki.pic24.ru/doku.php/en/osa/ref/intro

OSE｜专有｜客户可获得｜通用｜活跃｜ARM, PowerPC, x86, TI OMAP, …｜www.enea.com/ose

OS-9｜专有｜客户可获得｜嵌入式｜活跃｜ARM-strongARM, MIPS, PowerPC, SuperH, x86/Pentium, XSCALE, Motorola 6809, 680x0, SPARC｜www.microware.com

OSEK｜混合, 开放源代码和商业｜特殊｜嵌入式｜活跃｜引擎控制单元｜www.osek-vdx.org (不工作一段时间了), 最好参看 www.autosar.org

Partikle｜专有｜未知｜嵌入式, 工业｜活跃｜LEON2-3-4, x86｜www.fentiss.com, www.xtratum.org

Phar Lap ETS｜未知｜未知｜未知｜未知｜未知｜未知

PaulOS｜GNU GPL｜开放源代码｜嵌入式｜未知｜未知｜paulos.2038bug.com

PICOS18｜GNU GPL｜开放源代码｜嵌入式｜未知｜PIC18｜未知

picoOS｜修改的 BSD｜开放源代码｜嵌入式｜维护｜6502, 80x86, ARM7, AVR, PowerPC,Cortex-M,MSP430,PIC32｜picoos.sourceforge.net,github.com/AriZuu/picoos

Piko/RT｜修改的 BSD｜开放源代码｜嵌入式｜活跃｜ARM Cortex-M3/M4｜github.com/pikort/pikoRT

Pharos｜Apache 2.0｜开放源代码｜嵌入式, 工业, 安全关键｜活跃｜ARM926, Cortex-R5, Cortex-M4, Cortex-A53 (都带有内存保护)｜https://sourceforge.net/projects/rtospharos/

Phoenix-RTOS｜专有｜未知｜嵌入式｜未知｜ARM7, IA-32, eSI-RISC｜www.phoenix-rtos.org

PikeOS｜专有｜客户可获得｜安全关键, 虚拟化｜活跃｜PPC, x86, ARM, MIPS, SPARC-LEON, SuperH｜https://www.sysgo.com/pikeos

Portos｜专有｜提供源代码｜嵌入式, 小量内存占用｜活跃｜(ARM 马上)｜www.portos.org

POK｜BSD｜开放源代码｜嵌入式｜活跃｜x86, PowerPC, SPARC｜pok.safety-critical.net

PowerTV｜专有｜未知｜未知｜未知｜未知｜www.powertv.com

Prex｜BSD｜开放源代码｜微内核｜活跃｜ARM, IA-32｜prex.sourceforge.net

Protothreads｜BSD｜开放源代码｜通用｜活跃｜架构无关｜http://dunkels.com/adam/pt/

pSOS｜专有｜未知｜未知｜停止｜680x0｜未知

QNX｜专有｜未知｜通用, 医疗设备｜活跃｜IA-32, MIPS, PowerPC, SH-4, ARM, StrongARM, XScale｜www.qnx.com

QP｜双重, 开放源代码和商业｜双重｜MCU, DSC, DSP SoC｜活跃｜ARM7/9, ARM Cortex-M3-M0, MSP430, TMS320C28x, AVR, AVRXmega, ColdFire, 68HC08, M16C/R8C, H8, 8051, 80251, PIC18, PIC24/dsPIC33, Nios II, PSoC1｜www.state-machine.com/qp

Kaspersky OS｜专有｜未知｜安全关键, 虚拟化｜活跃｜未知｜未知

Data General RDOS｜专有｜未知｜通用｜终止｜Data General Nova, Data General Eclipse｜未知

ReaGOS｜专有｜封闭, 在许可证下可获得｜嵌入式｜活跃｜x86, ATmega, ARM, 可移植｜www.reagos.com

REAL/32｜专有｜封闭｜通用, 工业｜活跃｜386｜IMS (多用户 DOS 派生)

RedHawk Linux (Red Hat 兼容)｜专有｜封闭, 在许可证下可获得｜嵌入式｜活跃｜x86, 其他｜www.ccur.com/linux/products/redhawk

Real-time Linux (CONFIG_RT_PREEMPT)｜GNU GPLv2｜开放源代码｜通用｜活跃｜同于 Linux｜www.osadl.org/Realtime-Linux.projects-realtime-linux.0.html, rt.wiki.kernel.org, wiki.linuxfoundation.org/realtime/start

REX OS｜专有｜封闭, 在许可证下可获得｜嵌入式｜活跃｜ARM｜REX OS

RIOT｜GNU LGPL｜开放源代码｜嵌入式｜活跃｜ARM, MSP430, AVR, x86｜www.riot-os.org

RMX｜专有｜封闭｜嵌入式｜终止｜8080, 8086, 80386 或更高｜www.tenasys.com/rmx

RODOS｜BSD｜提供源代码｜嵌入式｜活跃｜ARMv7 (M3, A8, A9), AVR32, PowerPC 405, sparc64 平台: SmartFusion2, RaspberryPi, STM32 在OS之上: Linux, Windows, MacOS, FreeRTOS, RTems｜ rodos download

RSX-11｜专有｜未知｜未知｜历史上的｜PDP-11｜n/a

RT-11｜专有｜未知｜通用｜终止｜PDP-11｜n/a

RTAI｜GNU GPL｜开放源代码｜通用｜活跃｜x86, ARM｜www.rtai.org

RTEMS｜修改的 GNU GPL｜开放源代码｜嵌入式｜活跃｜ARM, Blackfin, ColdFire, TI C3x/C4x, H8/300, x86, 68k, Milkymist SoC, MIPS, Nios II, PowerPC, SuperH, SPARC, ERC32, LEON, Mongoose-V｜rtems.com

RTLinux｜GNU GPL｜开放源代码｜通用｜活跃｜同于 Linux｜n/a

RT-Thread｜Apache 2.0｜开放源代码｜嵌入式｜活跃｜ARM, ARM Cortex-M0-M3-R4-M4-M7, IA-32, AVR32, Blackfin, nios, PPC, M16C, MIPS (loongson-1b-1c, PIC32，xburst), MicroBlaze, V850, unicore32,｜code.google.com/p/rt-thread, www.rt-thread.org

RTXC Quadros｜专有｜源代码可获得｜嵌入式｜活跃｜ARM - Atmel/Freescale/NXP/ST/TI, Blackfin, 680x0-ColdFire, PowerPC, StarCore, TI-Luminary Stellaris, TI OMAP, XScale｜www.quadros.com/products/operating-systems

RTX, RTX64｜专有｜封闭｜MS Windows 扩展｜活跃｜x86, x86-64｜www.intervalzero.com/rtx.htm

RTX Keil 实时操作系统｜专有, 免专利费｜源代码可获得｜嵌入式｜活跃｜ARM｜www.keil.com/arm/rl-arm/kernel.asp

Ruff｜专有｜封闭｜嵌入式, 通用, 工业, IoT｜活跃｜ARM, MIPS, x86｜https://ruff.io/docs/faq.html

RX116｜未知｜未知｜嵌入式, 工业｜终止｜NEC V20, NEC V30, NEC V40, NEC V50｜第一个 ITRON 1 兼容 16-bit RTOS

RX616｜未知｜未知｜安全关键, 嵌入式, 工业｜终止｜NEC V60, NEC V70｜32-bit ITRON 兼容

RX-UX832｜未知｜未知｜嵌入式, 工业, 通用｜终止｜NEC V60, NEC V70｜32-bit 类Unix RTOS

SafeRTOS｜专有｜源代码和设计保证可获得｜嵌入式, 安全关键｜活跃｜同于 FreeRTOS｜同于 FreeRTOS

SCIOPTA｜专有｜封闭, 源代码可获得｜嵌入式, 安全相关｜活跃｜ARM, Cortex-M0-M3-M4, Cortex-R4, Cortex-A5, Cortex-A7, Cortex-A9, Cortex-A53, XScale, Renesas RX100, RX200, RX600, RX700, PowerPC, ColdFire, HCS12, M16C, Windows (仿真器), Aurix TC2xx, BlackFin BF52x, BF70x｜www.sciopta.com

scmRTOS｜免费｜开放源代码｜嵌入式｜活跃｜ARM, Cortex-M3, Blackfin, MSP430, AVR, STM8｜scmrtos.sourceforge.net

SDPOS｜GNU LGPL｜开放源代码｜嵌入式｜活跃｜ARM, Cortex-M3, Blackfin, PIC18, PIC24, i386 win32/linux 综合目标｜www.sdpos.org

SHaRK｜GNU GPL｜开放源代码｜未知｜活跃｜未知｜shark.sssup.it

silRTOS｜免费｜开放源代码｜嵌入式｜活跃｜ARM, Cortex-M Cortex-A9 ARM-11MP, Blackfin, MIPS, AVR｜spanidea.com/products.php

Simba｜MIT｜开放源代码｜嵌入式｜活跃, beta｜Arduino Nano (AVR), Arduino Mega (AVR), Arduino Due (ARM), ESP8266, ESP32, cygwin/linux｜simba-os.readthedocs.org/en/latest

SimpleAVROS｜GNU GPLv3｜开放源代码｜嵌入式｜活跃, beta｜唯有 AVR｜n/a

SINTRAN III｜未知｜未知｜未知｜未知｜Norsk Data 计算机｜n/a

SOOS Project｜免费｜开放源代码｜嵌入式｜活跃, beta｜H8/300｜www.ingelec.uns.edu.ar/rts/soos

StateOS｜MIT｜开放源代码｜嵌入式, 小量内存占用｜活跃｜ARM Cortex-M, STM8｜github.com/stateos/StateOS

Stratify OS｜修改的 GNU GPL 或专有｜开放源代码｜嵌入式｜活跃｜ARM Cortex-M3, M4｜stratifylabs.co/Stratify-OS/

Symbian OS｜Eclipse｜开放源代码｜嵌入式｜终止｜ARM｜www.symbian.org

Talon DSP RTOS｜专有｜未知｜嵌入式 DSP｜活跃｜TMS320｜www.blackhawk-dsp.com/Talon.aspx

TargetOS｜专有｜客户可获得｜嵌入式｜活跃｜ARM, Cortus, Freescale ColdFire, PowerPC｜www.blunkmicro.com/os.htm

T-Kernel｜T-License｜源代码可获得｜嵌入式 RTOS｜活跃｜ARM, MIPS, SH, 更多｜www.t-engine.org

THEOS｜未知｜未知｜未知｜未知｜未知｜www.theos-software.com

ThreadX｜专有｜客户可获得｜未知｜活跃｜ARC, ARM/Thumb, AVR32, BlackFin, 680x0-ColdFire, H8-300H, Luminary Micro Stellaris, M-CORE, MicroBlaze, PIC24-dsPIC, PIC32, MIPS, V8xx, Nios II, PowerPC, Renesas RX100, RX200, RX600, RX700, Synergy, SH, SHARC, StarCore, STM32, StrongARM, TMS320C54x, TMS320C6x, x86/x386, XScale, Xtensa/Diamond, ZSP｜https://rtos.com/solutions/threadx/

TizenRT｜Apache 2.0｜开放源代码｜嵌入式｜活跃｜ARM｜https://github.com/Samsung/TizenRT

TI-RTOS 内核 (SYS/BIOS)｜BSD｜开放源代码｜嵌入式｜活跃｜多数 Texas Instruments: MSP430-432, C2000-5000-6000, TI 的 ARM 家族 (Cortex M3-4F-R4-A8-A15), SimpleLink Wireless CC2xxx-CC3xxx｜www.ti.com/tool/sysbios

Tock OS｜Apache 2.0/MIT｜开放源代码｜嵌入式｜活跃｜ARM Cortex｜https://www.tockos.org

Trampoline 操作系统 (OSEK 和 AUTOSAR)｜GNU GPLv2｜开放源代码｜嵌入式｜活跃｜AVR, H8-300H, POSIX, NEC V850e, ARM7, Infineon C166, HCS12 或 PowerPC｜trampoline.rts-software.org

TNKernel｜BSD｜开放源代码｜嵌入式｜活跃｜ARM, PIC24-32-dsPIC, HCS08, STM32 (Cortex-M3)｜www.tnkernel.com

TNeo｜BSD｜开放源代码｜嵌入式｜活跃｜Cortex-M0-M0+-M1-M3-M4-M4F, PIC24-32-dsPIC｜github.com/dimonomid/tneo

Transaction Processing Facility｜专有｜未知｜通用｜活跃｜IBM System/360 派生｜www.ibm.com/software/htp/tpf

TRON 计划｜免费｜混合｜混合｜活跃｜任何: 是标准而非实现｜www.tron.org/index-e.html

TUD:OS｜GNU GPL｜开放源代码｜未知｜活跃｜ARM, IA-32, x86-64｜demo.tudos.org/eng_about.html

Unison RTOS｜混合, 开放源代码和商业｜开放源代码｜MCU, DSC, DSP SoC, FPGA｜活跃｜Pic32, ARM Cortex (TI Stellaris Tiva Sitara, ST STM32, NXP LPC1X00, Freescale iMX6 Kinetis, Renesas RZ, RX600, SH2A, SH2AFPU, R32C, MIPS4K, {SHARC, ColdFire, Xilinx MicroBlaze, 专有}｜www.rowebots.com/en/products/unison-rtos-article

UNIX-RTR｜未知｜未知｜未知｜终止｜PDP-11｜未知

uSmartx｜BSD｜开放源代码｜嵌入式｜未知｜ARM7TDMI, AVR, H8｜usmartx.sourceforge.net

u-velOSity｜专有｜未知｜微内核｜活跃｜未知｜www.ghs.com/products/micro_velosity.html

velOSity｜未知｜未知｜未知｜活跃｜Power 架构, ARM/XScale, MIPS, x86/Pentium, ColdFire, Blackfin, OMAP, DaVinci｜www.ghs.com/products/velosity.html

VRTX｜专有｜未知｜未知｜被 Nucleus RTOS 取代｜ARM, MIPS, PowerPC, RISC｜www.mentor.com/embedded-software/nucleus

VxWorks｜专有｜未知｜嵌入式｜活跃｜ARM, IA-32, Intel 64, MIPS, PowerPC, SH-4, StrongARM, xScale｜www.windriver.com/products/vxworks

Windows CE｜专有｜Microsoft 共享源代码｜嵌入式｜活跃｜x86, MIPS, ARM, SuperH｜www.microsoft.com/windowsembedded

Xenomai｜GNU GPLv2｜开放源代码｜通常｜活跃｜x86, x86-64, PowerPC, ARM, Analog Devices Blackfin BF52x, BF53x, BF54x 和 BF56x｜www.xenomai.org

XMK｜BSD｜开放源代码｜嵌入式｜活跃, beta｜未知｜www.integerfox.com/xmk

Simulink Real-Time｜专有｜封闭｜实时测试-嵌入式｜活跃｜x86｜www.mathworks.com/products/simulink-real-time

Y@SOS｜GNU LGPL｜开放源代码｜嵌入式｜活跃｜Cortex-M3, STM32｜www.yasos.org

MontaVista Linux｜GNU GPL｜开放源代码｜嵌入式｜活跃｜未知｜www.mvista.com

UNOS｜未知｜未知｜未知｜历史上的｜680x0｜未知

uOS｜GNU GPL｜开放源代码｜嵌入式｜活跃｜AVR, ARM, MIPS32, MSP430, Intel i386, Linux386｜code.google.com/p/uos-embedded/wiki/about

华为 LiteOS｜BSD｜开发源代码｜嵌入式｜活跃｜ARM (M0/3/4/7, A7/17/53, ARM9/11), X86,RISC-V｜https://www.huawei.com/minisite/liteos/en/about.html

Zephyr｜Apache 2.0｜开放源代码｜嵌入式｜活跃｜ARM (Cortex-M0, Cortex-M3, Cortex-M4, Cortex-M23, Cortex-M33), x86, ARC, RISC-V, Nios II, Xtensa｜http://www.zephyrproject.org/

## 外部链接

- Computers/Software/Operating_Systems/Realtime