We consider wait-free synchronization for the single-writer/multiple-reader problem in small-memory embedded real-time systems. We present an analytical solution to the problem of determining the minimum, optimal space cost required for this problem, considering a priori knowledge of interferences—the first such result. We also show that the space costs required by previous algorithms can be obtained by our analytical solution, which subsumes them as special cases. We also present a wait-free protocol that utilizes the minimum space cost determined by our analytical solution. Our evaluation studies and implementation measurements using the SHaRK RTOS kernel validate our analytical results.