WUT?

This is a BuguRTOS project. The name BuguRTOS comes from Butthurt, Frugurt and RTOS.

BuguRTOS is small portable OS kernel for microcontrollers. It is capable to work in hard/soft real time systems.

It is free and open source software, but you can use it for proprietary software development.

Main features

• Small. BuguRTOS can run on small 8bit microcontrollers.
• Portable. The kernel is designed to be easily portable to new platforms.
• SMP-ready by design. The kernel was designed for SMP MCUs from the very begining. Although there were no SMP MCUs available at the end of 2010.
• No memory management in kernel.
• Smaller process stack size required as kernel runs in separate thread with its own stack.
• The kernel is almost fully preemptive. Only small chunks of code can’t be preempted by interrupts.
• Interrupt virtualization. Virtual interrupts are run cooperatively in kernel threads. By default, they can be preempted by other virtual interrupts in preemption points.
• Customizable system call interface. One may comment out unneeded system calls, add custom system calls or rewrite system call table completely.

Licensing

• BuguRTOS is licensed under GPLv3 with linking exception, see exception.txt
• STM8/SDCC tests are licensed under GPLv3 without exceptions as libstm8 is used!

Get it!

• Old releases are on Gdrive!.
• Since May 12th 2015 new releases are placed here.

Current status

• Branches supported:

  • 0.6.x (Immediate Ceiling Priority Protocol used) high level features and API are frozen;
  • 4.1.x (combines Immediate Ceiling Priority and Basic Priority Inheritance protocols) is under active development.

• Current versions are:

  • 0.6.6;
  • 4.1.0;

• Platforms supported:

  • AVR (GNU-toolchain);
  • STM8:
    • IAR,
    • Raisonance,
    • SDCC (since 2.0.0);
  • Cortex^TM-M7 (GNU-toolchain);
  • Cortex^TM-M4 (GNU-toolchain);
  • Cortex^TM-M3 (GNU-toolchain);
  • Cortex^TM-M0 (GNU-toolchain);
  • rp2040 (since 4.1.0).

• Notes on STM8/SDCC port:

  • Thank Philipp Klaus Krause for taking part in this port!
  • SDCC generates strange code for long linear functions which allocates MUCH STACK SPACE for temporary vars, be careful!

• Notes on Cortex^TM-M0 port:

  • This port should also work on Cortex^TM-M1 with OS-extension.

• Notes on rp2040 port:

  • BuguRTOS runs in SMP mode. Only two RTOSes support SMP on rp2040 at the end of october 2021.
  • Raspberry Pi Pico SDK usage is optional.
  • The port use four interrupts, they are:
    • SysTick,
    • PendSv,
    • IRQ15 (core 0 SIO interrupt),
    • IRQ16 (core 1 SIO interrupt);
  • When Raspberry Pi Pico SDK standard runtime is used with BuguRTOS interrupt names are set to SDKs default ISR names. There is no need to define or configure them.
  • “Atomic” operations are core local. Cross-core memory accesses are concurrent.
  • rp2040 has 32 hardware locks but we can’t use them in BuguRTOS because of two reasons:
    • We need unlimited number of spin locks for the Kernel.
    • Hardware locks are heavilly used by the Raspberry Pi Pico SDK.
  • Lamport’s bakery algorithm is used for software implemented spin locks.
  • Software implemented spin locks are used to avoid cross-core concurency inside the kernel. DO NOT use them directly!!!

Get started

Getting started guide is here.

Todo

• Write libs for 4.x.y branch.
• Write more ports.
• Fix bugs.
• ??????
• PROFIT!!!

News

• October 31st 2021 BuguRTOS updated version 4.1.0 is out, see Changelog for details!
• January 7th 2019: BuguRTOS updated version 4.0.0 is out, see Changelog for details!
• March 13th 2017: BuguRTOS updated version 3.0.0 is out, see Changelog for details!
• August 31th 2016: BuguRTOS updated version 2.0.0 is out, see Changelog for details!
• April 26th 2016: BuguRTOS updated version 1.0.0 is out, see Changelog, semantic versioning is used now!
• January 6th 2016: BuguRTOS updated version 0.9.9 is out, see Changelog!
• July 3rd 2015: BuguRTOS updated versions 0.6.6, 0.7.3, 0.8.4 are out, are out, see Changelog!
• May 12th 2015: BuguRTOS-0.8.3 is out, see Changelog! Added more argument checks, fixed several issues, ported tests to libopencm3.
• May 12th 2015: Added third party code to project repository.
• April 25th 2015: BuguRTOS-0.8.2 is out, see Changelog! Added basic timeout support and fifo scheduling policy support, fixed some bugs.
• April 25th 2015: BuguRTOS moved to GitHub.
• March 13th 2015: BuguRTOS updated versions 0.6.5, 0.7.2, 0.8.1 are out, see Changelog! Three bugs fixed, significant changes made in 0.8.x branch.
• January 24th 2015: BuguRTOS-0.8.0 is out, see Changelog! Actually It’s not just a new version, but a New branch. I will focus on it for a while. Working on this new branch I found and fixed some bugs in priority inheritance protocol of 0.7.x branch. Branches 0.6.x and 0.7.x will have only new ports and bug fixes.
• BuguRTOS-0.7.1 is out, see Changelog, BuguRTOS-0.8.0 is on the way!