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@ -139,6 +139,8 @@ It was decided to use C++ `std::atomic`, as it is easier to use and implement, w
`msgInQ` is used as a FIFO buffer for CAN messages, to supplement the small buffer of the CAN system and allow for more messages to be retained, increasing the required minimum initiation time. `msgInQ` is used as a FIFO buffer for CAN messages, to supplement the small buffer of the CAN system and allow for more messages to be retained, increasing the required minimum initiation time.
The below figure displays a graph of the dependencies between the various tasks. It can be clearly seen that the dependancies are not cyclical, therefore there is no capability for a deadlock to occur.
![Dependency Graph](docs/DependencyGraph.png) ![Dependency Graph](docs/DependencyGraph.png)
## Analysis of inter-task blocking dependencies ## Analysis of inter-task blocking dependencies