Many many firmwares are absolute rubbish fed by solo or duo developer teams, writing crap C or worse C++ using a vendor hal, code gen tools, and a super loop.

Many many firmwares are absolute rubbish fed by solo or duo developer teams, writing crap C or worse C++ using a vendor hal, code gen tools, and a super loop. Good luck picking it back up or having another embedded person sort out the random zup file of sources and built images that these sorts of things encompass. Using some god awful half baked custom ide.