Peter, in my other life before bumness descended on me like a broken rover, I was a "software engineer" in the Radar and Instrumentation Lab at Ga. Tech Research Institute. We dealt with hardware all the time (Star Wars). No one had VxWorks or any of that BS. We ran hardware simulations on large 'frames, and then coded directly to the simulator. My part was radar codes. Everything was home grown. It always worked. I wonder why?