Critical features for embedded operating system

Hello all.

Is there some operating system masters here ? In the scope of a minimalist industrial grade Programmable Logic Controller, what are the critical features for embedded operating system ?

The system is a preemptive stack based context switch, I have :

- serious stack overflow control
- avoid any software or hardware deadlocks (watchdog)
- manage resource access (abstraction layers, system calls, mutexes, semaphore, ... )
- be real timed
- error handling / recover
- task priority
- inter task communication
- debugging capabilities

I have unix in mind for model, like error handling with return value of functions. I also think about Apollo Guidance Computer for his high hardware and software efficiency.
 
I also think about Apollo Guidance Computer for his high hardware and software efficiency.
In case you don't know - there is a talk about the Apollo guidance systems on the CCC website where they dissect that thing very good.
 
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