I did a bit of RTIC and can confirm it's pretty pleasurable to work with. It's sort of almost-RTOS, just enough to get some concurrency going without going full

I did a bit of RTIC and can confirm it's pretty pleasurable to work with. It's sort of almost-RTOS, just enough to get some concurrency going without going full-on OS. It also cleverly uses unused ARM interrupts to act as sorta hardware accelerated context switches