QP

QP is a family of lightweight and portable frameworks for modeling and coding UML state machines in C or C++. Designed for real-time embedded systems, QP can replace an RTOS or work with one. It has been ported to many MCUs (ARM Cortex-M3/M0, ARM7/9, MSP430, TMS320C28x, AVR, PIC18/PIC24/dsPIC, M16C/R8C, H8, 68HC08, ColdFire, PSoC, NiosII, 8051/80251, PSoC) and OSs (Linux/POSIX, Win32, VxWorks, QNX, ThreadX, uC/OS-II).