I got fasinated with the bootloader and other bits and pieces used in OS development, currently ive got a major interest in embedded systems OS dev, mostly for robotics,

The place I found most useful was this one: -

http://www.mega-tokyo.com/os/os-faq.html

also Although there are hundreads of homemade OS out there contiki was nicely coded

http://www.dunkels.com/adam/contiki/

one thing you gotta bear in mind if you didnt already is that you cant use include files, you gotta make them your self, i think thats what ive read and its certainly true with embedded systems.

Are you gonna put your code on the web so we can help debug it?, what sort of size is it at the moment?

sounds interesting project,

i2c