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SAFERTOS application architecture strategies

Hello Everyone,

I'm now creating an architecture for an application that will run on SAFERTOS and TI TMS570 variant. Needless to say, it is for safety critical system in nuclear domain.

The architecture strategies that are recommended by WHIS (SAFERTOS folks) is the use of messages for inter task communication, the tasks wait for some max_delay until they receive the message or are able to send messages. Mutexes seem to a less preferred way of design. The SAFERTOS allows the usage of round robin scheduling only.

It is a first time experience with the above environment and I'd like to know from the people who have already used it,

  1. the architecture strategies you've used for inter task communication
  2. the reasonable time one can wait for messages when using xQueueReceive or xQueueSend
  3. protection of objects: mutex or semaphore
  4. strategies to manage use of global variables
  5. other best practices, guidelines

Thanks in advance for the contributions !