<s>
ChibiOS/RT	B-Operating_System
is	O
a	O
compact	O
and	O
fast	O
real-time	B-Operating_System
operating	I-Operating_System
system	I-Operating_System
supporting	O
multiple	O
architectures	O
and	O
released	O
under	O
a	O
mix	O
of	O
the	O
GNU	B-License
General	I-License
Public	I-License
License	I-License
version	O
3	O
(	O
GPL3	O
)	O
and	O
the	O
Apache	B-Application
License	I-Application
2.0	O
(	O
depending	O
on	O
module	O
)	O
.	O
</s>
<s>
Commercial	O
licenses	O
are	O
available	O
from	O
ChibiOS	B-Operating_System
.	O
</s>
<s>
Additional	O
products	O
include	O
ChibiOS/HAL	O
,	O
a	O
hardware	B-Operating_System
abstraction	I-Operating_System
layer	I-Operating_System
compatible	O
with	O
ChibiOS/RT	B-Operating_System
,	O
and	O
ChibiStudio	O
,	O
a	O
free	O
integrated	B-Application
development	I-Application
environment	I-Application
based	O
on	O
Eclipse	B-Application
,	O
the	O
GNU	B-Application
Compiler	I-Application
Collection	I-Application
,	O
and	O
the	O
OpenOCD	O
Joint	O
Test	O
Action	O
Group	O
(	O
JTAG	O
)	O
debugging	O
pod	O
.	O
</s>
<s>
ChibiOS/RT	B-Operating_System
is	O
designed	O
for	O
embedded	O
applications	O
on	O
microcontrollers	B-Architecture
of	O
8-	O
,	O
16-	O
,	O
and	O
32-bits	O
.	O
</s>
<s>
As	O
reference	O
,	O
the	O
kernel	B-Operating_System
size	O
can	B-Protocol
range	O
from	O
a	O
minimum	O
of	O
1.2KiB	O
up	O
to	O
a	O
maximum	O
of	O
5.5KiB	O
with	O
all	O
the	O
subsystems	O
activated	O
on	O
a	O
STM32	O
Cortex-M3	O
processor	O
.	O
</s>
<s>
The	O
kernel	B-Operating_System
can	B-Protocol
achieve	O
over	O
220,000	O
created/terminated	O
threads	B-Operating_System
per	O
second	O
and	O
can	B-Protocol
perform	O
a	O
context	B-Operating_System
switch	I-Operating_System
in	O
1.2	O
microseconds	O
on	O
an	O
STM32	O
@	O
72MHz	O
.	O
</s>
<s>
The	O
ChibiOS/RT	B-Operating_System
microkernel	B-Operating_System
supports	O
:	O
</s>
<s>
Thread-safe	O
memory	B-General_Concept
heap	I-General_Concept
and	O
memory	B-General_Concept
pool	I-General_Concept
allocators	O
.	O
</s>
<s>
Hardware	B-Operating_System
Abstraction	I-Operating_System
Layer	I-Operating_System
with	O
support	O
for	O
ADC	O
,	O
CAN	B-Protocol
,	O
GPT	O
(	O
general-purpose	O
timer	O
)	O
,	O
EXT	B-Application
,	O
I²C	O
,	O
ICU	B-Device
,	O
MAC	O
,	O
MMC/SD	O
,	O
PAL	B-Architecture
,	O
PWM	B-Algorithm
,	O
RTC	O
,	O
SDC	B-Device
,	O
Serial	B-Protocol
,	O
SPI	B-Architecture
,	O
and	O
USB	B-Protocol
drivers	O
.	O
</s>
<s>
Support	O
for	O
the	O
LwIP	B-Application
and	O
uIP	B-Protocol
TCP/IP	O
stacks	O
.	O
</s>
<s>
Support	O
for	O
the	O
FatFs	B-Device
file	O
system	O
library	O
.	O
</s>
<s>
All	O
system	O
objects	O
,	O
such	O
as	O
threads	B-Operating_System
,	O
semaphores	B-Operating_System
,	O
timers	B-Device
,	O
etc.	O
,	O
can	B-Protocol
be	O
created	O
and	O
deleted	O
at	O
runtime	O
.	O
</s>
<s>
To	O
increase	O
system	O
reliability	O
,	O
the	O
kernel	B-Operating_System
architecture	O
is	O
entirely	O
static	O
,	O
a	O
memory	B-General_Concept
allocator	I-General_Concept
is	O
not	O
needed	O
(	O
but	O
is	O
available	O
as	O
an	O
option	O
)	O
,	O
and	O
there	O
are	O
no	O
data	B-General_Concept
structures	I-General_Concept
with	O
upper	O
size	O
limits	O
like	O
tables	B-Application
or	O
arrays	B-Data_Structure
.	O
</s>
<s>
The	O
system	O
application	O
programming	O
interfaces	O
(	O
APIs	B-General_Concept
)	O
are	O
designed	O
to	O
not	O
have	O
error	O
conditions	O
such	O
as	O
error	B-Application
codes	I-Application
or	O
exceptions	O
.	O
</s>
<s>
The	O
RTOS	B-Operating_System
is	O
designed	O
for	O
applications	O
on	O
embedded	B-Architecture
systems	I-Architecture
(	O
devices	O
)	O
and	O
includes	O
demo	O
applications	O
for	O
various	O
microcontrollers	B-Architecture
:	O
</s>
<s>
Contributed	O
ports	O
are	O
also	O
available	O
for	O
the	O
Coldfire	B-Device
and	O
H8S	B-Device
families	O
.	O
</s>
<s>
ChibiOS/RT	B-Operating_System
has	O
also	O
been	O
ported	O
to	O
the	O
Raspberry	B-Operating_System
Pi	I-Operating_System
and	O
the	O
following	O
device	O
drivers	O
have	O
been	O
implemented	O
:	O
Port	O
(	O
GPIO	B-Architecture
)	O
,	O
Serial	B-Protocol
,	O
GPT	O
(	O
General-Purpose	O
Timer	O
)	O
,	O
I2C	O
,	O
SPI	B-Architecture
and	O
PWM	B-Algorithm
.	O
</s>
<s>
It	O
is	O
also	O
possible	O
to	O
run	O
the	O
kernel	B-Operating_System
in	O
a	O
Win32	B-Library
process	B-Operating_System
in	O
a	O
software	O
I/O	O
emulation	O
mode	O
,	O
allowing	O
easy	O
application	O
development	O
without	O
the	O
need	O
for	O
physical	O
hardware	O
.	O
</s>
<s>
An	O
example	O
is	O
included	O
for	O
MinGW	B-Application
compiler	B-Language
.	O
</s>
<s>
ChibiOS/RT	B-Operating_System
is	O
fully	O
supported	O
by	O
the	O
graphical	B-Application
user	I-Application
interface	I-Application
(	O
GUI	B-Application
)	O
toolkit	O
µGFX	O
,	O
formerly	O
named	O
ChibiOS/GFX	O
.	O
</s>
