These seems to be the correct place to announce that there is a new RTOS for raspberry pi3: Pharos (https://sourceforge.net/projects/rtospharos/).
It supports several features, including:
- fixed-priority preemptive scheduler (256 priority levels)
- partitions (each partition contains a set of threads)
- native support for periodic, sporadic and aperiodic threads
- Memory protection (partitions)
- Time protection (a thread is not allowed to execute for more time than it is configured to)
- Set of intra-partition objects (semaphores, events, message queue, timers, futures)
- Set of inter-partition objects (message queue, channel for zero-copy transfer, resource)
- Inter-partition filter - application defined methods that allow/reject communication between partitions (operate on a separate stack, on the memory area of the callee partition but on the time window of the caller thread)
- support for a wide variety of ARM CPUs
It is relatively a new OS, more or less one year since its first release. For each release there is a quite extensive User Manual with working examples (see the latest release in https://sourceforge.net/projects/rtospharos/files/).
You are quite welcome to make comments, ask questions, request new features, etc
Even though the port for the raspberry pi3 is not easy (there is a big lack of documentation), we believe it is well commented so it could be a learning experience for newcomers to this area, but could also be for more experienced OS developers (we hope so).
In the future we plan to extend pharos to support multicores. Maybe we could try to get some feedback on this forum to try and find out the hardware specs to do this.
For now enjoy it,