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.


More information Name, License ...
NameLicenseSource modelTarget usesStatusPlatforms
Apache MynewtApache 2.0open sourceembeddedactiveARM Cortex-M, MIPS32, Microchip PIC32, RISC-V
BeRTOSModified GNU GPLopen sourceembeddedarchivedARM, Cortex-M3, ARM ARM7TDMI, Atmel AVR, PowerPC (emu), x86 (emu), x86-64 (emu)
ChibiOS/RTDual, GNU GPL or proprietaryopen sourceembedded, small footprint activex86, ARM7, ARM9, Cortex-M0-M3-M4, PowerPC e200z, STM8, STM32, AVR, MSP430, ColdFire, H8S
ChorusOS ? ? ?defunctSPARC, x86, PowerPC
ContikiBSDopen sourceembedded, WSNactiveMSP430, AVR, ARM
Data General RDOSProprietary ?general purposedefunctData General Nova, Data General Eclipse
DeosProprietaryclosedsafety criticalactivex86, PowerPC, ARM, MIPS
DioneOSProprietaryavailable for licenseeembeddedMSP430, MSP430x
DNIXProprietaryclosedgeneral purposedefunct68000
GEC DOSProprietaryclosedprocess controldefunctGEC 4000 series
DSOSProprietaryclosed ?defunctTI-980A minicomputer
DSP/BIOSProprietaryclosed, available with licensegeneral purposemaintenance onlyMostly Texas Instruments C2800, C5500, C6000 and OMAP DSP cores. Replaced by TI-RTOS, but available for download.
eCosModified GNU GPLopen source embeddedinactiveARM-XScale-Cortex-M, CalmRISC, 680x0-ColdFire, fr30, FR-V, H8, IA-32, MIPS, MN10300, OpenRISC, PowerPC, SPARC, SuperH, V8xx
eCosProModified GNU GPL or eCosPro licenseopen 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
embOSProprietaryclosed, 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 EnterpriseGPL and GPL linking exceptionopen 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)
EROSModified GNU GPLopen sourceexperimental
research use
dormantIA-32
FlexOSProprietaryclosedgeneral purpose, industrial, POSdefunct186, 286, 386, V60, V70, 68000
FreeRTOSMIT open source embedded activeARM, 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
FuchsiaVariesembeddedAArch64, x86-64
Keil RTXApache 2.0open sourceembeddedArm Cortex-M
FunkOSModified Sleepycat Licenseopen sourceembeddedAVR, MSP430, Cortex-M3
HeartOSProprietaryclosedsafety criticalx86, PowerPC, ARM
Huawei LiteOSBSDopen sourceembeddeddefunctARM (M0/3/4/7, A7/17/53, ARM9/11), x86, RISC-V
HarmonyOSProprietaryclosedembeddedactiveAArch64, x86-64, RISC-V, LingxiISA
IBM 4680 OSProprietaryclosedgeneral purpose, industrial, POSdefunct286
IBM 4690 OSProprietaryactive286, 386
INTEGRITYProprietaryembeddedARM, XScale, Blackfin, ColdFire, MIPS, PowerPC, x86
INtimeProprietaryx86
ITRONT-LicensevariesembeddedARM, MIPS, x86, Renesas RX100-200-600-700-others
Kaspersky OSProprietaryopen sourcesafety critical, virtualizationx86, x86_64, ARMV5, ARMV7, ARMV8, MIPS32
KolibriOSGNU GPLembeddablex86
LynxOSProprietarysource availableembeddedMotorola 68010, x86/IA-32, ARM, Freescale PowerPC, PowerPC 970, LEON
Mbed OSApache 2.0open sourceembeddedabandoned [1]Arm Cortex-M
MenuetOSGNU GPLopen sourceactive ?IA-32
MERTProprietary(Bell Labs)closedOS for long-distance telephone switching systemsinactivePDP-11
MicroC/OS-IIIApache 2.0open 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 LinuxGNU GPLopen sourceembedded ?
MP/MProprietaryclosed (meanwhile: open source)general purpose, industrialdefunct8080, Z80, 8086
MQXProprietarycomplimentary source availableembeddedactiveFreescale Power, ColdFire, Kinetis Cortex ARM, List of Freescale products
Multiuser DOSProprietaryclosedgeneral-purpose, industrialdefunct386
Nano-RKDual, GPL or commercialopen sourceembedded, WSNdefunctAVR, MSP430
NeutrinoProprietarysome source providedmicrokernel, embedded, industrialactiveARM, ARM64, MIPS, PPC, SH, x86, x86-64, XScale
Nucleus RTOSProprietarysource provided embeddedARM (Cortex-M3-M4-R4-R4F-A8-A9, ARM7-9-11), PowerPC, MIPS32-16e, microMIPS, ColdFire, SuperH
NUTProprietary open sourceembedded, industrialARM-M0, ARM-M0+, ARM Cortex-M3, ARM9, ARM Cortex-M7, Cortex-M3
Nut/OSBSDembedded, industrialAVR, AVR32, ARM7, ARM9, Cortex-M3
NuttXApache 2.0open 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
OpenComRTOSProprietarysource providedembeddedFreescale PowerPC, Texas Instruments C66xxx DSP, ARM, XMOS, MicroBlaze, LEON, NXP CoolFlux DSP, Melexis MLX16, Win32, Linux
OS2000Proprietary ?embeddedactiveMIPS (Baget variant), KOMDIV-32, KOMDIV-64, Intel BSPs (x86)
OS4000Proprietaryclosedprocess controlmaintenance onlyGEC 4000 series
OSEProprietaryavailable to customersgeneral purpose activeARM, PowerPC, x86, TI OMAP, ...
OS-9Proprietaryavailable to customersembeddedARM-strongARM, MIPS, PowerPC, SuperH, x86/Pentium, XSCALE, Motorola 6809, 680x0, SPARC
OSEKDual, GPL or commercialspecificationengine control units
Phoenix-RTOSBSDopen sourceembedded activeARMv7 Cortex-M, ARMv7 Cortex-A, IA-32, RISC V
PikeOSProprietaryavailable to customerscertifiable safety & security, embedded virtualisationPPC, x86, ARM, MIPS, SPARC-LEON, RISC-V
ProtothreadsBSDopen sourcegeneral purpose activeArchitecture independent
pSOSProprietary ? ?discontinued680x0
PX5 RTOSProprietaryroyalty-free licensingembeddedactiveEmbedded MCU and MPU architectures. ARM's Cortex-M, Cortex-R, Cortex-A, RISC-V. AMP and SMP configurations.
QNXProprietary ?microkernel, embedded, industrialactive
QPDual, 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/32Proprietaryclosedgeneral-purpose, industrial386
Real-time Linux (PREEMPT RT)GNU GPLv2open sourcegeneral purposex86, x86_64, RISC-V, ARM64 and LoongArch (ARM and POWER in the -rt branch)[2]
REX OSProprietaryclosed, available with licenseembeddedinactiveARM
RIOTGNU LGPLopen sourceactiveARM7, ARM Cortex M, MSP430, AVR, RISC-V, Xtensa
RMXProprietarycloseddefunctIntel 8080, 8086, 80386, higher
RODOSBSDsource providedactiveARMv7 (M3, A8, A9), AVR32, PowerPC 405, SPARC64

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

RSX-11Proprietary ? ?historicPDP-11
RT-11Proprietary ?general purposedefunctPDP-11
RTAIGNU GPLopen 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)
RTEMSBSDembeddedAArch64, 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
RTLinuxGNU GPLgeneral purposeinactivesame as Linux
RT-ThreadApache 2.0open sourceembedded activeARM, ARM Cortex-M0-M3-R4-M4-M7, IA-32, AVR32, Blackfin, nios, PPC, M16C, MIPS (loongson-1b-1c, PIC32,xburst), MicroBlaze, V850, unicore32,
RTXC QuadrosProprietarysource availableembeddedARM - Atmel/Freescale/NXP/ST/TI, Blackfin, 680x0-ColdFire, PowerPC, StarCore, TI-Luminary Stellaris, TI OMAP, XScale
RTX, RTX64ProprietaryclosedMS Windows extensionx86, x86-64
RX116 ? ?embedded, industrialdefunctNEC V20, NEC V30, NEC V40, NEC V50
RX616 ? ?safety critical, embedded, industrialNEC V60, NEC V70
RX-UX832 ? ?embedded, industrial, general-purposeNEC V60, NEC V70
SafeRTOSProprietarysource code & Design Assurance Pack availableembedded, safety criticalactiveSame as FreeRTOS
SHaRKGNU GPL open source ?inactive ?
Simulink Real-TimeProprietaryclosedreal-time testing-embeddedactivex86
SINTRAN IIIProprietary ? ? ?Norsk Data computers
Symbian OSEclipseopen sourceembeddeddefunctARM
T-KernelT-Licensesource availableembedded RTOSactiveARM, MIPS, SH, more
THEOSProprietary ? ? ? ?
ThreadXMITopen 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)BSDopen source embeddedMostly Texas Instruments: MSP430-432, C2000-5000-6000, TI's ARM families (Cortex M3-4F-R4-A8-A15), SimpleLink Wireless CC2xxx-CC3xxx
TizenRTApache 2.0open sourceembeddedactive
Transaction Processing FacilityProprietarymixedgeneral purposeactiveIBM Z series
TRON projectFreemixedmixedactiveany: is a specification, not an implementation
UNIX-RTR ? ? ?defunctPDP-11
UNOS ? ? ?historic680x0
μITRONT-Licenseopen sourceembeddedactiveARM, MIPS, x86, Renesas RX100-200-600-700-others
μ-velOSityProprietary ?microkernelactive ?
velOSityProprietary ? ?Power ISA, ARM/XScale, MIPS, x86/Pentium, ColdFire, Blackfin, OMAP, DaVinci
VAXELNProprietaryclosed source ?historicVAX
VRTXProprietary ? ?superseded by Nucleus RTOSARM, MIPS, PowerPC, RISC
VxWorksProprietary ?embeddedactiveARM, IA-32, Intel 64, MIPS, PowerPC, SH-4, StrongARM, xScale
Windows CEProprietaryMicrosoft Shared Sourcex86, MIPS, ARM, SuperH
Windows 10 IoTProprietary ?Intel Atom, Celeron, Pentium; Qualcomm Snapdragon, Broadcom, NXP i.MX
XenomaiGNU GPLv2open sourcegeneralx86, x86-64, PowerPC, ARM, Analog Devices Blackfin BF52x, BF53x, BF54x and BF56x
XINUFreeembeddedactivex86, MIPS, ARM, AVR
XMKBSDopen sourceembeddedinactive
ZephyrApache 2.0open sourceembeddedactiveARM (Cortex-M0, -M3, -M4, -M23, -M33, -R4, -R5, -A53), x86, ARC, RISC-V, Nios II, Xtensa, SPARC
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