ABSTRACT
Table 1 describes some of the basic features and concepts of four RTOSes: FreeRTOS (Barry 2010), UCOS (Company 2016), eCos (eCos Company 2016), and VxWorks (River 2016).
This paper is structured as follows. Section 2 gives an overview about Event-B. Section 3 to section 6 identifies respectively modeling concepts for process components, scheduler states, scheduler and context switching, and scheduling and interrupts. Section 7 discusses some related work and finally Section 8 outlines the conclusions.
