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Embedded Systems Architecture by Daniele Lacamera

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ChibiOS

Designed for context-switch performance, the real-time kernel of ChibiOS has a well-established history, with more than 10 years of active development and a community of enthusiastic contributors and maintainers. The concept behind the scheduler is a fixed-priority preemption, with priority inheritance mechanisms for priority inversion avoidance. The scheduler is the core component of the ChibiOS architecture, which also includes a complete hardware abstraction layer, containing a high-level abstraction of multiple devices, and peripherals that are common across different platforms.

The design is based on multiple levels of abstractions, each designed to be as independent as possible from the others. The core of the operating system ...

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