uC/OS-III

Learn the essentials of real-time operating systems. Part I of this comprehensive and detailed book provides a thorough explanation of Micriμm's popular µC/OS-III real-time kernel. Part II describes practical, working applications for embedded medical devices built on µC/OS-III and Freescale's TWR-K53N512 medical board (ARM® Cortex™-M4) using Codewarrior and IAR development tools. Each of the included examples feature hands-on working projects, which allow you to get your application running quickly, and can serve as a reference design for implementing µC/OS-III.
This book is written for serious embedded systems programmers, consultants, hobbyists, and students interested in understanding the inner workings of a real-time kernel. μC/OS-III is more than just a great learning platform. It is a full commercial-grade software package, ready to serve as the foundation for a wide range of products.
μC/OS-III is a highly portable, ROMable, scalable, preemptive real-time, multitasking kernel designed specifically to address the demanding requirements of today's embedded systems. μC/OS-III is the successor to the highly popular μC/OS-II real-time kernel and can use most of μC/OS-II's ports with only minor modifications.
Some of the features of μC/OS-III are:
Preemptive multitasking with round-robin scheduling of tasks at the same priority.
Supports an unlimited number of tasks and other kernel objects.
Rich set of services: semaphores, mutual exclusion semaphores with full priority inheritance, event flags, message queues, timers, fixed-size memory block management, and more.
Built-in performance measurements.