It's easier when you restrict yourself to: - take mutex - read/write/modify shared data structure - release mutex There are plenty of multi-threaded RTOS an

It's easier when you restrict yourself to: - take mutex - read/write/modify shared data structure - release mutex There are plenty of multi-threaded RTOS and a lot of critical embedded software is multi-threaded. Typically there are clearer guarantees in those vs e.g. Linux. Multi-threaded code isn't fundamentally (from a theoretical perspective) different than single threaded code when it's running on a single core. Multiple cores communicating is sort of orthogonal.