Relatively common in more powerful embedded systems. See for example https://www.openampproject.org/ which is a framework for running multiple cores of Linux, baremtal, or an RTOS together.
OpenAMP focuses on RTOS running on "subordinate" coprocessors.
This is more of a good old classic partitioning, which was rare outside of hardware with special support for it.
Most RTOS + non-RTOS combinations use RTOS doubling as hypervisor, with RT tasks running at guaranteed timeframes and non-RTOS guest running in more relaxed form.
You can also use it in a "SMP" processor. For example I use it on Zynqs which are dual or quad ARMs symmetrical ARM SoCs. Linux or the bare code can be the master or subordinate.
Relatively common in more powerful embedded systems. See for example https://www.openampproject.org/ which is a framework for running multiple cores of Linux, baremtal, or an RTOS together.
OpenAMP focuses on RTOS running on "subordinate" coprocessors.
This is more of a good old classic partitioning, which was rare outside of hardware with special support for it.
Most RTOS + non-RTOS combinations use RTOS doubling as hypervisor, with RT tasks running at guaranteed timeframes and non-RTOS guest running in more relaxed form.
You can also use it in a "SMP" processor. For example I use it on Zynqs which are dual or quad ARMs symmetrical ARM SoCs. Linux or the bare code can be the master or subordinate.