Writing to the UART offer an opportunity to receive and transmit out of the
SoC, and therefore the simplest OS should be rather easy to write, simply
by receiving and transmiting at the UART interface.

Below are the many examples of simple program written for some popular SoC:

Singpolyma » Writing a Simple OS Kernel — Part 7, Serial Port Driver

https://singpolyma.net/2013/02/writing-a-simple-os-kernel-part-7-serial-port-driver/

And a simple example to write to UART:

http://wiki.osdev.org/ARM_RaspberryPi_Tutorial_C

http://balau82.wordpress.com/2010/02/14/simplest-bare-metal-program-for-arm/

http://www.valvers.com/embedded-linux/raspberry-pi/step01-bare-metal-programming-in-cpt1

http://www.cl.cam.ac.uk/projects/raspberrypi/tutorials/

https://www.freebsd.org/doc/en/articles/serial-uart/

http://stackoverflow.com/questions/6870712/beagleboard-bare-metal-programming

http://www.raspberry-projects.com/pi/programming-in-c/uart-serial-port/using-the-uart

A complete program running on baremetal RPI writing Hello to UART is shown
below:

http://wiki.osdev.org/ARM_RaspberryPi_Tutorial_C

And just in case u have got no money to buy any SoC board:

http://balau82.wordpress.com/2010/02/28/hello-world-for-bare-metal-arm-using-qemu/

(which have a very good explanation of generating the binaries and laying
it out in memories for the hardware simulator).

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