It really comes down to memory requirements. If you can afford to give every task it's own stack and dispatch it directly from prioritized interrupts, that's gr

It really comes down to memory requirements. If you can afford to give every task it's own stack and dispatch it directly from prioritized interrupts, that's great. Even better if you can use memory protection hardware to isolate the tasks from each other. But if you have many long running tasks that only need to keep a handful of bytes of state when they're waiting, a mechanism like rust async can allow for huge memory savings while mostly retaining the same code style as stackful tasks. And you can even use both approaches in the same program, with isolated stacks for realtime critical tasks and cooperative state machines for everything else.