If it's running on MMU-less systems, I'd be interested in how it loads multiple programs into memory: does it need to relocate each program binary? If so, doesn't that preclude using execute-in-place (XIP)?
Generally, running in a MMU without static task config would require relocatable binaries. I'm not sure why it'd preclude execute-in-place. As a relocatable binary should be executable from generally any address space. However I suspect that hardware without an MMU is not super likely to be able to support XIP.
It is based on FreeRTOS, so it should be fairly well documented.
It is based on FreeRTOS, so it should be fairly well documented.