Nucleus RTOS is made by Accelerated Technology, the Embedded Systems Division of Mentor Graphics. It comes with full source code, no royalties, is preemptive, multitasking, for time-critical embedded uses; coded 95% ANSI C, very portable, runs on most processors (CPUs), Nucleus micro-iPLUS has micro-ITRON (uITRON) interface; code|lab IDE, Microtec C/C++ compilers, XRAY debugger; available On Time free seminars, QuickStart Kits, XRAY Software Developer Kit.