The author is working on projects involving microcontrollers, specifically Raspberry Pi Pico boards. The current project involves creating a hardware controller for PTZ cameras and video switching equipment. The author is dissatisfied with the expensive, low-quality control panel currently in use and is developing a more functional, cost-effective alternative. After initial software development challenges using RP2040, the author explores different real-time operating systems (RTOS) including FreeRTOS, Apache NuttX, and Zephyr. FreeRTOS is favored for its simplicity but the author faces issues with debugging. NuttX offers a Unix-like system but encounters difficulties in setting up. Zephyr is complicated to set up and lacks support for Raspberry Pi Pico. Ultimately, the author decides to continue with FreeRTOS due to its ease of integration.
https://blog.brixit.nl/moving-to-a-rtos-on-the-rp2040/