Relatively common in more powerful embedded systems. See for example https://www.openampproject.org/ which is a framework for running multiple cores of Linux, baremtal, or an RTOS together.

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p_l 18 hours ago | parent [-]

OpenAMP focuses on RTOS running on "subordinate" coprocessors.

This is more of a good old classic partitioning, which was rare outside of hardware with special support for it.

Most RTOS + non-RTOS combinations use RTOS doubling as hypervisor, with RT tasks running at guaranteed timeframes and non-RTOS guest running in more relaxed form.

	▲	lpribis 8 hours ago \| parent [-]
		You can also use it in a "SMP" processor. For example I use it on Zynqs which are dual or quad ARMs symmetrical ARM SoCs. Linux or the bare code can be the master or subordinate.