QP/C++ is an open source state machine framework and lightweight RTOS for embedded CPUs, MCUs, and DSPs. Enables direct coding of UML state machines in C++ without big tools. Ported to ARM7, ARM9, ARM ...

QP-nano is a state machine framework and ultra-light RTOS for single chip MCUs. Enables direct coding of UML state machines in C without big tools. Ported to ARM7, ARM, Cortex-M3, AVR, MSP430, ...