In my (limited) experience, the best way to do this is to restructure
your code (I know, probably not what you were hoping for) in order to
ensure that all RT/OS interactions (threading, mutexes, semaphores)
are minimized and done through an extracted interface. Ideally, this
interface also makes it less obvious that you're actually interacting
with an RT/OS (for example, by doing most IPC through higher level
constructs such as message queues). Trying to shim TDD into existing
multi-threaded code that makes liberal use of RT/OS primitives
(necessarily or unnecessarily) without significant refactoring has
proven to be nearly insurmountable in all cases I've seen.
Ryan
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