I used XINU to study OS course:
http://en.wikipedia.org/wiki/Xinu
Xinu is a small, elegant, multitasking Operating System supporting the following features:
* Concurrent Processing
* Message Passing
* Ports
* Semaphores
* Memory Management
* Buffer Pools
* Uniform Device I/O
* Shell
* Tcl
* TCP/IP
Xinu was originally designed as a vehicle for teaching Operating System design concepts and is used by many educational institutions for this purpose. Later versions supported TCP/IP, these versions are often used in Data Communications courses.