Comment by bradfa

Tangent: reading this, all I could think was "you're allocating memory in a motor controller?!?" and then "you're using interrupts in a motor controller!?!". Surely the bug write up was good and it is interesting, but all of the actual hard real time systems I've ever seen or talked to engineers who actually worked on them always avoided interrupts and never allocate memory. Both of these activities in hard real time code can produce very unexpected results which may be similar to what the author found with enabling the ADCs in rapid succession.