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Smart Object Oriented Operating system is a lightweight and full featured operating system devoted to embedded systems, currently mainly ARM-based. SO3 can be used in academic and industrial environment (https://smartobjectoriented.github.io/so3)
The QuarkTS port for C++. An open-source OS for embedded applications that supports prioritized cooperative scheduling, time control, inter-task communications primitives, hierarchical state machines and CoRoutines.
CoDiOS. An alternative firmware for the Cosmo Communicator. Feel free to help out, and bear in mind, it's a highly experimental firmware, and still in the early stages.