The first link covers cases most simply described as "it needs to be fast, as fast as possible, but things won't go wrong if there's a random 8msec delay".

Then there's "things will go wrong if there's a random 8msec delay".

Then there's "people will die and/or property will be destroyed if there's a random 8msec delay".

I was referring only to the last two. And yes, that means no malloc.

The first one targets “sub-millisecond”, which is a eternity in current systems.

According to the third link:

> we observed a negative correlation between MISRA rule violations and observed faults

So, MISRA isn’t really helping with real time at all.

The second link claims pauses are capped at 10us, which (if true) is actually competing with careful use of malloc.