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Советую курс www.edx.org/course/real-time-bluetooth-networks-shape-the-world
там шаг за шагом строиться своя RTOS.

What you'll learn
Learn fundamentals of embedded systems
Learn how to build your own real-time operating system
Learn how to design, develop and debug C code
Learn about modular design while creating a personal fitness device
Learn about Bluetooth communication
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