RT-Thread is an open source IoT Real-Time Operating System (RTOS). https://rt-thread.github.io/rt-thread/
QP/C Real-Time Event Framework/RTOS implements event-driven Active Object (Actor) model combined with Hierarchical State Machines. Specifically designed for embedded systems (e.g., ARM Cortex-M MCUs).
Open source STM32 MCU programming toolset
Open source ARM Cortex-M microcontroller library