Anyone know about ERIKA Enterprise RTOS?

In fact I did not do any multiprocessor stuff, myself, but here in the forum we already had several discussions on this issue, that, unfortunately, are lost now due to the disk crash. AFAIK, there have been several successful projects done in this way.

With "closed loop" I mean using the processor without a formal OS, just run it in a permanent loop and have it do the stuff it needs to do whenever necessary either as a part of the loop or in an interrupt service routine.

The most interesting part is the communication between the processors. You can e.g. do FIFOs in hardware or use shared memory protected with a hardware MUTEX (Altera does provide such a Mutex in the Avalon Bus). Of course you can just use a pair of (Fifoed)Uart and connect RxD and TxD.

-Michael