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Another matter is that if the code is real-time critical, and it shares data with non-rt code, how much does it depend on that the shared data is being updated on time?

April 26, 2017code critical Data depend real-time Shared Shares updated

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Another matter is that if the code is real-time critical, and it shares data with non-rt code, how much does it depend on that the shared data is being updated on time?

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If the updates aren’t completed “on time”, then the interrupt will continue to use the old (pre-update) data structure a bit longer, which is okay… the main thing is that the interrupt continues to feed the FIFO output it is feeding to, not that what it feeds to the FIFO is always using the 100% latest settings.