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Xinu

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Name is the reverse of Unix. Small, elegant, multitasking OS with concurrent processing, message passing, ports, semaphores, memory management, buffer pools, uniform device I/O, shell, Tcl, TCP/IP. Begun as means to teach OS design concepts, now used by many education institutions; some embedded system makers have ported it to their hardware: Intel 80960, 8096; Motorola 680x0.
site exerpt
Xinu Operating System  Xinu work has focused on porting Xinu to new architectures, adding support for virtual memory and Internet protocols, and adding a file system. In all cases, we are exploring how to add new facilities to the multilevel design without introducing...
http://www.cs.purdue.edu/research/xinu.html

Large page, many details of using Xinu on Sun 2 and 3 with 68k CPUs.
site exerpt
Xinu Version 7.0 on the Sun  In many cases you will be accessing the hardware of the computer directly to carry out the tasks given in the assignments. This requires detailed information on the architecture of the computer the devices attached to it. The text that...
http://www.ugrad.cs.ubc.ca/spide...inu/xinu.sun3/xref/Xinu-7.0.html