Comparison of real-time operating systems

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This is a list of real-time operating systems (RTOSs). This is an operating system in which the time taken to process an input stimulus is less than the time lapsed until the next input stimulus of the same type.


Name License Source  modelTarget usesStatusPlatforms
Apache Mynewt Apache 2.0 open sourceembeddedactive ARM Cortex-M, MIPS32, Microchip PIC32, RISC-V
BeRTOS Modified GNU GPL open sourceembeddedarchivedARM, Cortex-M3, ARM ARM7TDMI, Atmel AVR, PowerPC (emu), x86 (emu), x86-64 (emu)
ChibiOS/RT Dual, GNU GPL or proprietaryopen sourceembedded, small footprint activex86, ARM7, ARM9, Cortex-M0-M3-M4, PowerPC e200z, STM8, STM32, AVR, MSP430, ColdFire, H8S
ChorusOS ???defunct SPARC, x86, PowerPC
Contiki BSD open sourceembedded, WSN activeMSP430, AVR, ARM
Data General RDOS Proprietary ?general purposedefunct Data General Nova, Data General Eclipse
Deos Proprietary closedsafety criticalactivex86, PowerPC, ARM, MIPS
DioneOS Proprietary available for licenseeembeddedMSP430, MSP430x
DNIX Proprietary closedgeneral purposedefunct68000
GEC DOS Proprietary closedprocess controldefunctGEC 4000 series
DSOS Proprietary closed?defunct TI-980A minicomputer
DSP/BIOS Proprietary closed, available with licensegeneral purposemaintenance onlyMostly Texas Instruments C2800, C5500, C6000 and OMAP DSP cores. Replaced by TI-RTOS, but available for download.
eCos Modified GNU GPL open sourceembeddedinactiveARM-XScale-Cortex-M, CalmRISC, 680x0-ColdFire, fr30, FR-V, H8, IA-32, MIPS, MN10300, OpenRISC, PowerPC, SPARC, SuperH, V8xx
eCosPro Modified GNU GPL or eCosPro license open source with non-free portionsactiveARM7-9, 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
embOS Proprietary closed, available to customers, free object code for non-commercial useembedded, industrial, IoT, safety criticalactiveARM7/9/11, 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
ERIKA Enterprise GPL and GPL linking exception open sourceembeddedARM7, ARM Cortex-M, ARM Cortex-A (on Jailhouse hypervisor), 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, x86-64 (on Jailhouse hypervisor)
EROS Modified GNU GPL open sourceexperimental
research use		dormantIA-32
FlexOS Proprietary closedgeneral purpose, industrial, POSdefunct186, 286, 386, V60, V70, 68000
FreeRTOS MIT open sourceembeddedactiveARM, AVR, AVR32, ColdFire, ESP32, HCS12, IA-32, Cortex-M3-M4-M7, Infineon XMC4000, MicroBlaze, MSP430, PIC, PIC32, Renesas H8/S, RISC-V, RX100-200-600-700, 8052, STM32, TriCore, EFM32
Fuchsia Variesembedded AArch64, x86-64
Keil RTX Apache 2.0 open sourceembeddedArm Cortex-M
FunkOS Modified Sleepycat License open sourceembeddedAVR, MSP430, Cortex-M3
HeartOS Proprietary closedsafety criticalx86, PowerPC, ARM
Huawei LiteOS BSD open sourceembeddeddefunctARM (M0/3/4/7, A7/17/53, ARM9/11), x86, RISC-V
HarmonyOS Proprietary closedembeddedactive AArch64, x86-64, RISC-V, LingxiISA
IBM 4680 OS Proprietary closedgeneral purpose, industrial, POSdefunct286
IBM 4690 OS Proprietary active286, 386
INTEGRITY Proprietary embeddedARM, XScale, Blackfin, ColdFire, MIPS, PowerPC, x86
INtime Proprietary x86
ITRON T-License variesembeddedARM, MIPS, x86, Renesas RX100-200-600-700-others
Kaspersky OS Proprietary open sourcesafety critical, virtualizationx86, x86_64, ARMV5, ARMV7, ARMV8, MIPS32
KolibriOS GNU GPL embeddablex86
LynxOS Proprietary source availableembedded Motorola 68010, x86/IA-32, ARM, Freescale PowerPC, PowerPC 970, LEON
Mbed OS Apache 2.0 open sourceembeddedabandoned [1] Arm Cortex-M
MenuetOS GNU GPL open sourceactive?IA-32
MERT Proprietary(Bell Labs)closedOS for long-distance telephone switching systemsinactive PDP-11
MicroC/OS-III Apache 2.0 open sourceembeddedactiveARM7-9-11/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, ...
MontaVista Linux GNU GPL open sourceembedded?
MP/M Proprietary closed (meanwhile: open source)general purpose, industrialdefunct8080, Z80, 8086
MQX Proprietary complimentary source availableembeddedactiveFreescale Power, ColdFire, Kinetis Cortex ARM, List of Freescale products
Multiuser DOS Proprietary closedgeneral-purpose, industrialdefunct386
Nano-RK Dual, GPL or commercialopen sourceembedded, WSN defunctAVR, MSP430
Neutrino Proprietary some source providedmicrokernel, embedded, industrialactiveARM, ARM64, MIPS, PPC, SH, x86, x86-64, XScale
Nucleus RTOS Proprietary source providedembeddedARM (Cortex-M3-M4-R4-R4F-A8-A9, ARM7-9-11), PowerPC, MIPS32-16e, microMIPS, ColdFire, SuperH
NUT Proprietary open sourceembedded, industrialARM-M0, ARM-M0+, ARM Cortex-M3, ARM9, ARM Cortex-M7, Cortex-M3
Nut/OS BSD embedded, industrialAVR, AVR32, ARM7, ARM9, Cortex-M3
NuttX Apache 2.0 open sourceembedded, small footprintLinux user mode, 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
OpenComRTOS Proprietary source providedembedded Freescale PowerPC, Texas Instruments C66xxx DSP, ARM, XMOS, MicroBlaze, LEON, NXP CoolFlux DSP, Melexis MLX16, Win32, Linux
OS2000 Proprietary ?embeddedactive MIPS (Baget variant), KOMDIV-32, KOMDIV-64, Intel BSPs (x86)
OS4000 Proprietary closedprocess controlmaintenance onlyGEC 4000 series
OSE Proprietary available to customersgeneral purposeactiveARM, PowerPC, x86, TI OMAP, ...
OS-9 Proprietary available to customersembeddedARM-strongARM, MIPS, PowerPC, SuperH, x86/Pentium, XSCALE, Motorola 6809, 680x0, SPARC
OSEK Dual, GPL or commercialspecificationengine control units
Phoenix-RTOS BSD open sourceembeddedactiveARMv7 Cortex-M, ARMv7 Cortex-A, IA-32, RISC-V
PikeOS Proprietary available to customerscertifiable safety & security, embedded virtualisationPPC, x86, ARM, MIPS, SPARC-LEON, RISC-V
Protothreads BSD open sourcegeneral purposeactiveArchitecture independent
pSOS Proprietary ??discontinued680x0
PX5 RTOS Proprietary royalty-free licensingembeddedactiveEmbedded MCU and MPU architectures. ARM's Cortex-M, Cortex-R, Cortex-A, RISC-V. AMP and SMP configurations.
QNX Proprietary ?microkernel, embedded, industrialactive
QP Dual, GPL or commercialdualMCU, DSC, DSP SoCARM7/9, ARM Cortex-M3-M0, MSP430, TMS320C28x, AVR, AVRXmega, ColdFire, 68HC08, M16C/R8C, H8, 8051, 80251, PIC18, PIC24/dsPIC33, Nios II, PSoC1
REAL/32 Proprietary closedgeneral-purpose, industrial386
Real-time Linux (PREEMPT RT) GNU GPLv2 open sourcegeneral purposex86, x86_64, RISC-V, ARM64 and LoongArch (ARM and POWER in the -rt branch) [2]
REX OS Proprietary closed, available with licenseembeddedinactiveARM
RIOT GNU LGPL open sourceactiveARM7, ARM Cortex M, MSP430, AVR, RISC-V, Xtensa
RMX Proprietary closeddefunct Intel 8080, 8086, 80386, higher
RODOS BSD source providedactive ARMv7 (M3, A8, A9), AVR32, PowerPC 405, SPARC64

Platforms: SmartFusion2, RaspberryPi, STM32 On an OS: Linux, Windows, macOS, FreeRTOS, RTEMS

RSX-11 Proprietary ??historicPDP-11
RT-11 Proprietary ?general purposedefunctPDP-11
RTAI GNU GPL open sourcegeneral purposeactivex86 (with and without FPU and TSC), x86-64, PowerPC, ARM (StrongARM; ARM7: clps711x-family, Cirrus Logic EP7xxx, CS89712, PXA25x), m68k (supporting both MMU and NOMMU cpus)
RTEMS BSD embeddedAArch64, ARM, Blackfin, ColdFire, TI C3x/C4x, H8/300, x86, x86_64, 68k, Microblaze, Milkymist SoC, MIPS, Nios II, PowerPC, SuperH, SPARC, ERC32, LEON, Mongoose-V
RTLinux GNU GPL general purposeinactivesame as Linux
RT-Thread Apache 2.0 open sourceembeddedactiveARM, ARM Cortex-M0-M3-R4-M4-M7, IA-32, AVR32, Blackfin, nios, PPC, M16C, MIPS (loongson-1b-1c, PIC32，xburst), MicroBlaze, V850, unicore32,
RTXC Quadros Proprietary source availableembeddedARM - Atmel/Freescale/NXP/ST/TI, Blackfin, 680x0-ColdFire, PowerPC, StarCore, TI-Luminary Stellaris, TI OMAP, XScale
RTX, RTX64 Proprietary closedMS Windows extensionx86, x86-64
RX116 ??embedded, industrialdefunct NEC V20, NEC V30, NEC V40, NEC V50
RX616 ??safety critical, embedded, industrial NEC V60, NEC V70
RX-UX832 ??embedded, industrial, general-purposeNEC V60, NEC V70
SafeRTOS Proprietary source code & Design Assurance Pack availableembedded, safety criticalactiveSame as FreeRTOS
SHaRK GNU GPL open source?inactive?
Simulink Real-Time Proprietary closedreal-time testing-embeddedactivex86
SINTRAN III Proprietary ??? Norsk Data computers
Symbian OS Eclipse open sourceembeddeddefunctARM
T-Kernel T-Licensesource availableembedded RTOSactiveARM, MIPS, SH, more
THEOS Proprietary ????
ThreadX MIT open sourceembedded, IoT, safety criticalactiveARC, 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
TI-RTOS Kernel (SYS/BIOS) BSD open sourceembeddedMostly Texas Instruments: MSP430-432, C2000-5000-6000, TI's ARM families (Cortex M3-4F-R4-A8-A15), SimpleLink Wireless CC2xxx-CC3xxx
TizenRT Apache 2.0 open sourceembeddedactive
Transaction Processing Facility Proprietary mixedgeneral purposeactive IBM Z series
TRON project Freemixedmixedactiveany: is a specification, not an implementation
UNIX-RTR ???defunct PDP-11
UNOS ???historic680x0
μITRON T-License open sourceembeddedactiveARM, MIPS, x86, Renesas RX100-200-600-700-others
μ-velOSity Proprietary ?microkernelactive?
velOSity Proprietary ??Power ISA, ARM/XScale, MIPS, x86/Pentium, ColdFire, Blackfin, OMAP, DaVinci
VAXELN Proprietary closed source?historicVAX
VRTX Proprietary ??superseded by Nucleus RTOS ARM, MIPS, PowerPC, RISC
VxWorks Proprietary ?embeddedactiveARM, IA-32, Intel 64, MIPS, PowerPC, SH-4, StrongARM, xScale
Windows CE Proprietary Microsoft Shared Sourcex86, MIPS, ARM, SuperH
Windows 10 IoT Proprietary ?Intel Atom, Celeron, Pentium; Qualcomm Snapdragon, Broadcom, NXP i.MX
Xenomai GNU GPLv2 open sourcegeneralx86, x86-64, PowerPC, ARM, Analog Devices Blackfin BF52x, BF53x, BF54x and BF56x
XINU Freeembeddedactivex86, MIPS, ARM, AVR
XMK BSD open sourceembeddedinactive
Zephyr Apache 2.0 open sourceembeddedactive ARM (Cortex-M0, -M3, -M4, -M23, -M33, -R4, -R5, -A53), x86, ARC, RISC-V, Nios II, Xtensa, SPARC

References

  1. ↑ "Important Update on Mbed" . Retrieved 2024-07-16.
  2. ↑ PREEMPT_RT patch versions
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