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uis ,

take a look at FreeRTOS

AFAIK FreeRTOS always ran drivers in kernel.

As long as there’s some processing RAM and sufficient ROM, I’m sure that it can be crammed in there via firmware

You can’t even emulate MPU without MPU. The only way is running bytecode, which is still not context switching.

Some madlads forked Linux to get it to work without an MMU, even getting it merged into the mainline kernel: en.m.wikipedia.org/wiki/ΜClinux

You are correct here. Should have said MPU instead.

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