Hard Real-Time & RTOS

⚠The Problem

Soft real-time systems miss deadlines under load. Priority inversion, ISR latency spikes, and non-deterministic scheduling turn production systems into liability. When motor control misses a timing window, machines crash. When a medical device misses a deadline, patients are at risk.

Our Approach

• NVIC priority grouping: all motor control ISRs at highest preemption priority
• Zero-copy HAL: eliminate memcpy in interrupt-critical paths
• TI-RTOS HWI direct dispatch: ISR → hardware handler with no OS scheduling overhead
• Priority inversion elimination via priority inheritance mutexes
• Deterministic memory allocation: no heap in interrupt context, static pools only

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