Small footprint RTOS for embedded system



I am looking for a free commercial usage & open source RTOS with small
footprint. I want RTOS to be very small preferably <5KBytes, which does
just Task handling/ISR/Semaphore.

I heard couple of small footprint RTOS like freeRTOS, Nucleus, ThreadX,
silRTOS, eCOS etc but don't have detail. Can someone help with details?

Steve


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