Comments by "Vitaly L" (@vitalyl1327) on "5 Steps To Fast u0026 Reliable Software Development" video.

In some places, full MISRA-C is a requirement, luckily.
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@almari3954 ideally there should not be any concurrency whatsoever in a BLDC controller. Designs tbat utilise concurrency (such as ODrive) are just wrong. A proper real-time design will be an FSM with precise timings of all measurements and PWM settings, wile communications are handled entirely independently on a separate core.
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@ModernSoftwareEngineeringYT to add on the topic of continuous delivery of the embedded solutions - I found it very useful to have a simulated analogue hardware-in-the-loop. For example, for the aforementioned BLDC controller, we're using a patched ngspice version that supports mixed signal time step simulations, so we can run firmware in a loop with a simulated analogue part of the system (with even a load being simulated). Every change to firmware therefore runs through a set of tests, including breakdown scenarios that cannot be tested on a real hardware (well, they can, but only once).
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 @almari3954 if you don't have any interrupts, and just poll all sensors in order, your FSM is always deterministic and allows a precise timing analysis.
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@almari3954 if there are no interrupts, FSM is deterministic. There is no problem.with such "concurrency".
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