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Somebody who asks about RTX51 usually has a 8051 available. RTOSs for this device are not very common because the max. Code size can be handled without an RTOS.
RTX51 is from Keil and comes as RTXtiny with the full developers package of the C-Compiler but it is not freely available stand alone.
Another one to look at would be CMX RTOS. http://www.cmx.com/
While uCLinux may be free (if you do not count all the hours you have to invest getting it running on your specific system), it is NOT AN RTOS, as R stands for REALTIME.
Also there is no Linux for the 51 because a regular 51 is limited to 64k code while uCLinux starts with the most basic implementation at about 500 kB.
If you are making a "one off" solution, it might still be an option to buy a hardware for a few 100$, that has several MBytes and a uCLinux port for it instead of creating a $15 hardware and try to fit an OS.
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