Looking at my firmware code, 4 quadrant motor torque control in particular. It is plain C and at the level it is written I really doubt C++ / Rust would add any

Looking at my firmware code, 4 quadrant motor torque control in particular. It is plain C and at the level it is written I really doubt C++ / Rust would add any value. For all the horror safety stories: firmware runs on whole bunch of devices for close to 10 years already without single fault caused by whatever bug there might be. Obviously not advocating plain C for business middleware servers. Those benefit greatly from C++ type of languages.