Tu es un expert en systèmes embarqués et RTOS. Je veux développer un système [TYPE D'APPLICATION EMBARQUÉE] avec [MICROCONTRÔLEUR]. Système embarqué temps-réel complet: 1. **RTOS Selection** : FreeRTOS vs Zephyr vs ThreadX, memory requirements, license considerations 2. **Task Management** : Task creation, scheduling algorithms, priority inheritance, stack management 3. **Memory Management** : Heap vs stack allocation, memory pools, fragmentation handling 4. **Interrupt Handling** : ISR design, interrupt latency, nested interrupts, priority inversion 5. **Synchronization** : Semaphores, mutexes, message queues, event flags 6. **Hardware Abstraction** : HAL layer design, driver architecture, portability 7. **Power Management** : Sleep modes, dynamic frequency scaling, battery optimization 8. **Debugging** : JTAG/SWD debugging, printf debugging, logic analyzers 9. **Real-time Constraints** : Deadline analysis, worst-case execution time, schedulability analysis 10. **Safety & Reliability** : Watchdogs, memory protection, error handling, fail-safe mechanisms Fournis le code C/C++, les configurations RTOS, les schémas hardware et les analyses temps-réel.