For some of the really flight critical stuff that I picked their brains on, the on-cpu cache was disabled because using it would make deterministally analyzing the executive time too difficult. There also wasn’t a pre-emptive multitasking scheduler but instead every task would run during a scheduled time slot in a big superloop.

All of this caution actually made the software a lot more primitive than the software that Margaret Hamilton led the development of for the Apollo program, but these days cpu cycles and memory are a lot cheaper than the engineering time to implement all these things in a safe way, or so they said.