Cliff's articles are outstanding! Re Rtic: I'm using the V1 of it, which is non-Async; it seems to offer smarter locking than using critical sections + Mutex,

Cliff's articles are outstanding! Re Rtic: I'm using the V1 of it, which is non-Async; it seems to offer smarter locking than using critical sections + Mutex, since it's capable of interrupting a lower-priority task with a higher one, depending on which resources are locked.