patacongo

Fitbit?

Ultimately, an RTOS can only provide you with the tools to create a hard real-time system. The RTOS cannot guarantee that your application can meet any deadlines. That requires the proper use of those tools by the application.

If you improperly prioritize tasks or use semaphore locks improperly or keep interrupts disabled too long, then your application will not be real-time.

NOTE: NuttX does provide tools to measure interrupt latencies, response times, and critical section times. Those are helps in creating a real-time system.

So, it is not a meaningful to ask if the RTOS has been certified in some way to always meet deadlines. You should ask rather, does the OS provide the tools that you need and does your overall application meets its deadlines.

The defunct Google project Ara and it its living decendents TizenRT (tinyara) and the Motorola MDK.

> Almost any RTOS on the Cortex-M profile will fully utilize the NVIC, giving you a hardware-managed preemptive FIFO scheduler even in interrupt context. NuttX's lack of this feature is a severe weakness, and a major reason to avoid using it.

I think this is a miconception about how RTOS's can work. Certainly in a bare-metal environment (or with a minimum RTOS), prioritized interrrupt-level processing is critical. But with RTOS's like NuttX, interrupts should be very brief: You should enter the handler, perform mimimal housekeeping, and signal a prioritized thread to perform the interrupt-related operations.

This is not a oversight in the design, it is intentional replacement of prioritized interrupt handling processing with priorotized multi-tasking processing.

The NuttX interrupt handling is designed so that the context switch after signaling the prioritized thread is ZERO. The return from interrupt vectors directly in the prioritized task (assuming it is the highest priority). This is all intentional design and is very efficent in these regards.

There is no one-size, fits all RTOS. You find that some are too minimal and primitive to meet your needs (I am thinking FreeRTOS, ChibiOS, Zephyr, ...) and some may be heavier weight than is necessary for your purposes (perhaps NuttX, nucleus, RTEMS, ...) or even heavier (VxWorks, QNX, Integrity, and on up to Linux). If you want the features of one class of RTOS, then you will find the others flawed in various ways, whichever RTOS is that one that meets your needs. It is a kind of Goldilocks effect.

> NuttX is a POSIX compliant operating system, and it likes to use the same naming convention of many of the functions and files you'd find in your standard UNIX/Linux system. When you try to write a unit test for your embedded code to run on your x86 development machine, as soon as a file you are testing touches a standard header file, it's really difficult to wrangle things. ...

I use a trick to do that based on the objcopy utility with the --redefine option. This is a not complicated, but still mind-bending at times.

NuttX supports a simulator that runs NuttX as a Linux application. This requires the full bag of tricks to avoid name collisions: https://bitbucket.org/nuttx/nuttx/src/c38b6cb068404827d7c071...

The BBC Microbit supports a NXP/Freescale KL26Z. That chip is supported by NuttX so the answer would be yes, with some additional board level support.

The NXP/Freescale KL26 has very limited resources, however. I would not recommend using a higher end RTOS with very low end, severely memory constrained MCUs.

NuttX also has strict licensing and coding standard enforcement. Such things are a necessary component of QA and I would think that all serious RTOS's have similar standards.

To be clear, they switched from a 3 or 4 year old version of Nuttx (prior to interrupt optimatizations) to current ChibiOS.

> - uses a pure software interrupt and redirects to your ISR's, so you incur additional overhead for all interrupts in your system

Not true. Like Nucleus OS, NuttX supports two class of interrupts, What nucleus calls "managed" and and "raw" interrupts. The raw interrupts zero-latency, no overhead interrupts: http://www.nuttx.org/doku.php?id=wiki:nxinternal:highperfint...

> - ships with a homegrown c stdlib, which has several functional/security bugs (ex: vscanf will overflow if you use format specifiers other than [l]i/u), and neglects to provide gcc attributes for arg checking for the printf family functions

Yes, it uses a custom, POSIX-compliant C library. I have never heard of any such bugs, however. All of the NuttX common code is compiler agnostic.

>- build system issues $(MAKE) calls in every folder you're building, which makes it terrifically slow (especially noticeable on incremental builds)

Re-build time is around 10 seconds or so on a lower-end to mediocre Linux box. A full build cycle (clean, reconfigure, build-from-scratch) is more like 30 seconds.

Windows-based builds are a lot longer.

>- architecture makes it difficult to write custom drivers without building them into the kernel (eg if you want to use the kernel as a module in your project)

Kernel modules are fully supported: http://www.nuttx.org/doku.php?id=wiki:nxinternal:kmodules-sh...