I've been trying to convince the people over the in FBP group that this is much easier than it sounds (esp. if you're rolled your own RTOS, as I have done many times).
(I have to leave now, but will answer in more detail later tomorrow).
Here are some slides for a not-yet-presented talk:
This is correct but useless to most people, who aren't doing signal processing and need to run on an off-the-shelf OS kernel.