I'm searching anRTOS: free or not for AT91SAM7x256. What are you using?
Which of µC/OS-II and RTOS is better for that? What differences?

I am also evaluating RTOSs available for the AT91SAM7X. freeRTOS seems to work, but I'm not a fan of documentation via wiki.

Check out uTasker, http://www.uTasker.com. I'm still new to it, but I really like the documentation. Also the email support has been absolutely amazing! I wouldn't be surprised if we end up using this in a commercial application. The price is low, $765USD for a full license? nice!

Mark

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