STM32F107VC/Building a RTOS

• See Cortex™-M3 Technical Reference Manual Chapter 5.11 Setting up multiple stacks

Principles

• Priority inversion
• Race condition
• Preemption
• Race condition
• Mutual exclusion
• timeWorst-case execution time

When it fails

• Therac-25
• Patriot Missile failure
• [Clemetine Spacecraft]

Links

• ChibiOS (An RTOS with HAL)
• FreeRTOS