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For most things you probably want an os because of dual core with thread management. But maybe you want to dedicate one CPU to a realtime single threaded application and let the other CPU handle all WiFi/Bluetooth tasks. This may be possible on top of os. Other things that are desirable are custom bootloaders that dynamically run different images and simple apps that, for example, just wake up and read an adc and go back to sleep. You dont want to waste instructions setting up an os for that and you want to minimize flash space taken by such a wakeup firmware. So a full non-os SDK is probably not necessary but the ability to build tiny single threaded apps such as bootloaders is desired.
At the moment, we're concentrating on the FreeRTOS SDK. If any, in the multithreaded variant you'll be able to suspend the scheduler on the core that doesn't handle WiFi connectivity. This basically gives the thread you run on that core 100% of the CPU time, which is mostly equivalent to having no pre-emptive OS at all.
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