The ISE board comes with a copy of the uCR/Embedded Operating System, for the software engineer writing and debugging software to run on the ISE board. uCR also supports other i960 and Motorola 68EC000 targets, and has preliminary support for Intel 386 and SPARC CPUs. uCR can be run using Linux/SPARC and Linux/Intel as a virtual board for those programmers wishing to experiment with or port software to uCR.

Source code for uCR can be copied freely under the terms of the GNU General Public License. Use of uCR in a commercial product requires a license. Binary distribution terms are available and are reasonably priced. The documentation and source snapshots are available for browsing and free download, and will be updated from time to time. Get the source by anonymous FTP.

Also, take a look at the paper "Embedded Programming with C++," which was published in the proceedings of the USENIX 1997 COOTS conference.