150KB 

 unknown 

 x86, 

 PPC 

 nTCP/IP and UDP/IP 

 POSIX 

 pre-emptive FIFO,

Round-Robin,

multi-class scheduling

 yes 

 yes 

 Interrupt Handler Entry : 0.36µs 
 Interrupt Handler Return : 0.3µs 

 Between 09 and 2.2µs 

 unknown 

 0.5KB 

 X86, 

 Linux, 

 Solaris 

 mutex, 
 other mechanism under Linux 

 Linux Open Source, 

 Sun Public License Lite Version 1.0 

 2kB for H8 

 Hundreds of bytes 

 Hitachi H8, 

 Lego Mindstroms 

 Lego Mindstorms infrared 

 custom wireless RF network 

 C library, 

 interface similar to OSEK/VDX 

 fixed priority DM scheduling algorithm 

 with a Non-Preemptive protocol 

 for accessing mutually exclusive shared resources 

 yes 

 yes 

 2µs on ARM 16Mhz 

 5-9µs on ARM 

 dep 

 dep 

 Linux, 

 Windows 

 Yes 

 GNU GPL license for education, 

commercial for the others

 <1.25kB 

 ~300KB

 <0.6kB (targ.dep), 

 config dependent 

 x86, 

 PPC 

 TCP/IP, FTP, SNMP, PPP, 

 Telnet, Bootp, DNS, DHCP, 

 IPV6, TFTP, HTTP, SNTP

 ISO C, POSIX.1a, 1b, 1c, 1d subset, 

 uITRON, EL/IX Level I&II (deprecated) 

 FIFO, 

 Round-Robin, 

BitMap 

 yes 

 no 

 10.42 us (soft) 

 0.87 us (target dep) 

 16 bytes 

 56 bytes (exc.stack) 

 Linux, 

 Windows 

 Priority inheritance, 

 priority ceilings 

 open source 

 unknown 

 unknown 

 unknown 

 TCP/IP 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 open source, 

 GPL 

 100kB 

 1MB 

 x86, 

 ARM 

 unknown 

 L4, 

 Experimental support for the linux RT interface

 Round-Robin, 

 Quality-Assuring Scheduling

 no 

 yes 

 Syncronous : 900 cycles on Pentium 

 Asyncronous : 2000 cycles on Pentium 4 

 Worst case with Pentium 4 on x86 : 33µs 

 unknown 

 2kB 

 Linux 

 yes 

 GNU GPL 

 4.4Kbytes with Gcc 

 <500, 

 depends on the config

 x86, 

 ARM 

 TCP/IP, 

 Ipv6 

 Not POSIX compliant 

 Round-Robin, 

 preemption

 no 

 no 

 dep 

 dep 

 45 

 + queue storage area 

 20 + 

 the task stack size 

 Windows 

 No, 

 A priority algorithm will take up 

 processing time within the kernel 

 Free source code 

 unknown 

 unknown 

 x86 

 TCP/IP 

 POSIX 

 multithreading Pthread, 

 FIFO, 

 Round-Robin, 

 Sporadic Server

 no 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 Linux 

 unknown 

 GNU GPL 

 Don't use 

 32MB 

 x86 

 TCP/IP 

 None 

 Pre-emptive multitasking, 

 multithreading, 

 ring-3 protection, 

 FIFO 

 no 

 no 

 TSSes 

 = moderation of latency 

 calculate the cost of 

 Loading 2 TSSes 

 fixes sized tables 

 fixes sized tables 

 use new computers 

 no 

 GPL 

 1.44MB 

 unknown 

 x86, 

 PPC 

 TCP/IP 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 Linux, 

 Windows 

 unknown 

 open source 

 1MB 

 68MB 

 x86, 

 PPC, 

 ARM 

 TCP/IP 

 POSIX 1.b, 1.c, 1003.13, 

 ISO C 

 Round-Robin, 

 preemptive, 

 FIFO, 

 Rate-Monotonic 

 yes 

 yes 

 <20µs 

 10µs 

 unknown 

 unknown 

 Linux 

 yes 

 free 

 >=1MB 

 >=1MB 

 x86, 

 PPC, 

 ARM 

 UDP, 

 TCP/IP 

 POSIX 1003.1b, 

 uITRON 3.0 API 

 priority-based pre-emptive scheduling, 

 Rate-Monotonic, 

 Priority inheritance 

 yes 

 yes 

 ~< 1µs 

 unknown 

 unknown 

 unknown 

 Linux, 

 Unix, 

 MS DOS, 

 Windows 

 priority inheritance, 

 priority ceilings 

 free, 

 open source 

 150KB 

 8MB 

 x86, 

 PPC, 

 ARM 

 TCP/IP 

 POSIX 1003.13, 1b, 1c, 1d, 1j, 

 ISO C 

 Prioritized FIFO, 

 extensible scheduler 

 yes 

 yes 

 ~20µs 

 ~20µs 

 unknown 

 unknown 

 Linux 

 lock-free data structures, 

 priority ceiling 

 free 

 60KB -> infinity 

 2MB 

 ARM, 

 PPC 

 UDP 

 POSIX 1003.13, 

 PSE52 

 Rate-Monotonic, EDF, EDFACT - EDF, 

 Round-Robin, 

 Round-Robin SOFT, 

 Round-Robin2, 

 SLSH, DUMMY, Static 

 no

 no, 

 Multithread 

 3µs on a celeron 360 Mhz 

 5-10µs on a celeron 360 Mhz 

 unknown 

 unknown 

 Linux, 

 Windows 

 yes 

 free 

 432B 

 46B 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 Linux RedHat 9.0, 

 Windows 2000, 

 Windows XP

 unknown 

 free 

 unknown 

 unknown 

 ARM, 

 PPC, 

 IA32 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 free 

 13 KB 

 unknown 

 ARM, 

 MIPS, 

 PPC 

 TCP/IP, 

 IPv4, IPv6 

 ANSI "C", 

 POSIX, 

 C++, 

 µITRON 

 unknown 

 yes 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 royalty-free 

 $2995 USD 

 unknown 

 unknown 

 8bits, 16bits, 

 32bits 

 unknown 

 unknown 

 pre-emption 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 Linux 

 yes 

 free licence 

 unknown 

 unknown 

 MIPS, PPC, SH-4, 

 ARM, StrongArm, 

 XScale, x86

 IPv4, IPv6, IPSec, 

 FTP, HTTP, 

 SSH, Telnet 

 POSIX.1 

 FIFO, 

 Round-Robin 

 yes 

 yes 

 unknown 

 unknown 

 unknown 

 unknown 

 Linux, 

 DOS 

 yes, 

 priority ceiling 

 150kB 

 150kB 

 MIPS, 

 PPC, 

 x86 

 unknown 

 POSIX, 

 ARINc-653, 

 native 

 time and priority 

 driven scheduling 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 Linux, 

 Windows XP SP2, 

 windows 2000 SP4 

 unknown 

 16kB to 1MB 

 16kB to 1MB 

 blackhawk-dsp 
 family 

 unknown 

 POSIX 1003 
 .1/.4a/.4b/.4c 

 priority 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 Linux 
 Windows 

 mutex 

 1 - 1.5KB

 <30 words for kernel 

 <15 words per task 

 Motorola DSP 5680, 

 Motorola DSP 56800E, 

 Motorola StarCore, 

 Analog Devices Blackfin 

 ARM7/9 

 depends of 

 your network 

 modules

 POSIX 

 priority based, 

 preemption 

 no 

 multitasking 

 unknown 

 190 Cycles 

 4.75 µsec @ 40 MIPs

 unknown 

 unknown 

 unknown 

 yes 

 unknown 

 unknown 

 32bit, 64bit, 
 multicore 

 IPsec, IKE, 
 SNTP, 
 wireless LAN 

 POSIX, 
 ARINC 653-1, PRE ALIGN=CENTER> DO-178B

 unknown 

 yes 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 Linux, 

 Windows 

 unknown 

 open source License 

 Administrator Essentials 

 unknown 

 unknown 

 AVR, S08, S12, S12X, 

 ColdFire, ARM7, ARM9, XSCALE, 

 PowerPC, MIPS, M16C, M32C, 

 XC167, DSP 

 TCP/IP 

 no standard 

 unknown 

 no 

 Multitasking 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 16kB 

 16kB 

 for protected mode 

 32/64-bit x86 CPUs 

 BOOTP, RARP, ARP, 

 ICMP, UDP, TCP, 

 DNS, NAT, NATP 

 Win32 API 

 Round-Robin, 

 pre-emption, 

 Priority Ordered Queues, 

 time slice

 yes 

 Multitasking 

 unknown 

 unknown 

 unknown 

 unknown 

 Windows 

 no 

 royalty-free 

 unknown 

 Up to 2GB 

 Motorola/IBM PPC 

 Freescale Power QUICC 2/3 

 Intel architecture family 

 Pv4, IPv6 TCP, UDP, 

 ICMP, IGMP, ARP, RARP, 

 DHCP, NAT, RPC, NTPv3 

 POSIX 1003.1-2003 

 PSE 53/54 

 UNIX 

 FIFO, 

 Priority Quantum, 

 Round-Robin, 

 Non-preemptive

 no 

 Symetric Multiprocessing

 unknown 

 unknown 

 unknown 

 unknown 

 Linux 

 unknown 

 LynuxWorks 

 Public License 

 unknown 

 unknown 

 Microcontroler, 

 Microcomputer, 

 DSP 

 TCP/IP 

 (add module) 

 no standard 

 pre-emption, 

 time slice scheduling 

 no 

 multitasking 

interrupt latency

context switch

 unknown 

 unknown 

 unknown 

 unknown 

price

 unknown 

 unknown 

 8051 family 

 ARM ARM7TDMI and Cortex-M3 

 Atmel: AVR, MegaAVR 

 Motorola: M68HC11 

 TI: MSP430, TMS320C2000 DSPs 

 Microchip: PIC12|14000|16|17|18 

 PICmicro MCUs, PIC24 MCUs, 

 dsPIC DSCs, PIC32 MCUs 

 unknown 

 no standard 

 unknown 

 no 

 multitasking 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 royalty-free 
price

 37 to 52 KB 

 unknown 

 ARM7/9, ColdFire, 

 PowerPC, x86 

 unknown 

 no standard 

 pre-emption, 

 Round-Robin (same priority) 

 no 

 multitasking 

 unknown 

 unhnown 

 unknown 

 unknown 

 Linux, 

 Windows XP 

 yes, 

 add mutex 

 royalty-free

 license agrement 

 unknown 

 unknown 

 unknown 

 IPV4, IPV6 

 POSIX.1 

 Rate-Monotonic Analisys 

 unknown 

 multitasking 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 yes 

 royalty-free 

 6 KB 

 unknown 

 ARC600, ARC700, 

 can be configured for others 

 famillies processors

 TCP/IP, 

 serial connection 

 no standard 

 scheduler task /PRE>
 creation/destruction 

 no 

 multitasking 

 500 MHz ARC 700: 

 ~0.30 µsec

 under 200 cycles 

 500 MHz ARC 700: 

 ~0.42 µsec 

 unknow 

 unknow 

 Windows 

 mutex 

 using their standard 

 private commercial 

 fee-based licensing terms 

 depends of the 

 microprocessor: 

 [10kB, 24kB] 

 depends of the 

 microprocessor: 

 [128B, 1kB] 

 Intel: 80186/188 (EA/EB/EC/XL), 

 Intel386, Intel486, Pentium 

 AMD: Am186/188 (EM/ES), Am386 (SE/DE) 

 VAuto-mation: Turbo86, Turbo186 

 unknown 

 no standard 

 Preemptive, 

 priority based task scheduler

 unknown 

 multitasking 

 depends of the 

 microprocessor:

 [2.2µs, 21.3µs] 

 averaging 100 such cycles 

 depends of the 

 microprocessor:

 [0.5µs, 26.6µs] 

 depends of the 

 microprocessor:

 [128B, 1kB] 

 depends of the 

 microprocessor:

 [128B, 1kB] 

 unknown 

 yes 

 negociate: 

amxsales@kadak.com

 unknown 

 unknown 

 ARM 7/9/11 CORTEX M3, /PRE>
 blackfin, coldfire, /PRE>
 PPC, DSP56F800, MSC71xx/81xx 
 infineon C16x, TI C54x/C55x 

 "RXTC quadusb" have: USB 

 "RXTC quadnet TCP/IP" have: 

 TCP/IP, UDP, DNS, IPV4, 

 IPV6, DHCP/BOOTP, IGMP, 

 HTTP, POP3, SNTP, 

 SNMP, FTP, TFTP, 

 Telnet, SSl, IPsec/IKE 

 no standard 

 cooperaive, Round-Robin, 

 pre-emptive, time-sliced 

 yes, configuration: 

 RTXC/mp

 multitasking 

 unknown 

 unknown 

 unknown 

 unknown 

 unknown 

 mutex 

 negociate: 

sales@quadros.com