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I remember seeing Minoca posted here before, but I don't remember the specific focus on IOT. Was that a pivot, or was it intended all along and I just misunderstood the first time?
From the FAQ[0]

> Is it real-time?

> The term "real-time" is often misused or misunderstood. We'll define it as "a provable guarantee of meeting an execution deadline when scheduling a task". In this sense, no, it is not a real-time system. If you have hard deadlines like controlling the robotic arm in an assembly line, this is not the OS for you. On the other hand, if by real time you mean "snappy performance", that we've got in spades. Our interrupt overhead is next to nothing, and there is so little background activity going on that our response time might often rival that of a real-time system.

So... not an RTOS.

[0] http://www.minocacorp.com/support/faq/

...Minoca OS runs on x86, ARMv6, or ARMv7 systems that contain virtual memory support and at least a few megabytes of RAM

Sigh.

Please stop saying "connected devices/IoT" and then require a desktop-class SoC to make it happen. This is a hub, not a node.

I need stuff that runs on Cortex-M with sub-Megabyte memory maps. I need my bill of materials to be an order of magnitude cheaper than a Raspberry Pi or Beaglebone solution. And no, I'm not using Weave or Lil' Droid or whatever Google is calling it now.

What options do exist in that space as an OS? Only thing that I personally know is Contiki, which people seem to either really love or really hate. (This is emphatically not my area of expertise, incidentally, so if I'm even misunderstanding how Contiki fits in here, I apologize.)
On CM3/4 CPUs I typically have been shipping with FreeRTOS based solutions. I've done this with LPC2478/1788, and I'm now working on a similar Kinetis K60 architecture.

It's a nice O/S, but doesn't have a real solid application layer on top of it. For that I've sometimes used FDI's uEZ system, but it also lacks a lot of the components I need for real IoT node work (Radio drivers, TCP, SSL, and as a stretch I could really use MQTT or AMQP).