rt

rt is a real-time operating system capable of full preemption.

rt provides many familiar synchronization interfaces and implements them with atomics for high performance and preemptibility. rt's non-blocking interfaces can be used safely in both tasks and interrupts, and it does not rely on disabling interrupts to implement synchronization. On architectures without hardware support for atomics, interrupt masking is used to provide an interface for atomics with very short gaps in interrupt availability.