* Compact, ROMable real time operating system * Rapid task context switching * Fast interrupt response * Nested interrupts with priority ordering * Preemptive, priority based task scheduler * Timing support for delays, timeouts, periodic events * Time slicing option with adjustable slices * Message passing with configurable message length * Dynamic task creation and dynamic task priorities * Protection against task priority inversion

* Preemptive scheduler with 255 priority levels * Round-robin at same priority level * Lightweight: the entire operating system fits into a few C files * Highly portable ANSI C code not tied to any compiler * Easy to read, well-documented, doxygen-commented code * Can be ported to any CPU architecture with a single architecture-specific module * Automated test suite proves reliable kernel operation * Free and flexible open source, BSD-licensed code * Readable code provides a good platform for learning RTOS internals