Hello,
there is also the TNKernel (
http://www.tnkernel.com/port_dsPIC.html ) which open source.
extract from the website :
"TNKernel performs a preemptive priority-based scheduling and a round-robin scheduling for the tasks with identical priority. The current version of TNKernel includes semaphores, mutexes, data queues, event flags and fixed-sized memory pools. The system functions calls in the interrupts are supported."
the list of feature seem very comprehensive but i haven't use it.
is everyone have already use it ?