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The open-source RTOS called "NUFR" has been ported to the MSP430/MSP430X CPUs. NUFR is a full featured RTOS--not just a simple scheduler. Features: MSP430 and MSP430X 16- and 20-bit models Make system included; all free/open-source tools Prioritized & Preemptive multitasking; Round-Robin multitasking; context switching from interrupt handlers Low-power extensions: tickless OS; special logic for low power mode RNET IPv4/IPv6/UDP stack runs on NUFR Message-based, event-driven Example project for Launchpad board Small RAM footprint: OS itself consumes 600 bytes; example project (2 1/2 tasks) at 1800 bytes Offline development environment included; unit test strategy Uses latest GCC (Somnium, was Red Hat) compiler Includes a few manuals and how-to text files; document how to install GCC compiler, etc. Source code follows best-practice coding standards. Well-documented. Doxygen comments embedded Take it for a test drive! ragingdist.org https://bitbucket.org/burnwood/raging-release/