As the popularity of GPL and other open source licenses, legal issues are always making noise along with the growing of embedded systems. To be frank, I am not familiar with this topic. I collection some resources for your references. In case you have any questions about it, you'd better to consult a lawyer for intelligent properties.
A Legal Issues Primer for Open Source and Free Software Projects, from Software Freedom Law Center.
What License to Use? from O'Reilly book of Open Sources: Voices from the Open Source Revolution.
Why you should use a BSD-style license.
GNU GPL
Mozilla Code Licensing
BSD licese
Micrium uC/OS-II License, free for educational purpose. Not free for commercial purpose.
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