Free cooperative operating system (OS) designed for deeply embedded applications
C C++ Objective-C
Latest commit 1be7852 Feb 16, 2017 @rajszym rajszym rename flgOne to flgAny


Free, simple and tiny cooperative operating system (OS) designed for deeply embedded applications. Target: ARM Cortex-M family. It was inspired by the concept of a state machine. Procedure executed by the task (task state) doesn't have to be noreturn-type. It will be executed into an infinite loop. There's a dedicated function for immediate change the task state.


  • kernel works in cooperative (non-preemptive) mode only
  • signals (auto clearing, protected)
  • events
  • flags (any, all)
  • barriers
  • semaphores
  • mutexes
  • condition variables
  • memory pools
  • message queues
  • mailbox queues
  • timers (one-shot, periodic)
  • c++ wrapper
  • all documentation is contained within the source files
  • examples and templates are in separate repositories


ARM CM0(+), CM3, CM4(F), CM7


This project is licensed under the terms of GNU GENERAL PUBLIC LICENSE Version 3.