At an OS level its kind of a sad state of affairs, even on tiny devices the goto solution is an RTOS with threads (they aren't cheap memory or latency wise!) I

At an OS level its kind of a sad state of affairs, even on tiny devices the goto solution is an RTOS with threads (they aren't cheap memory or latency wise!) If you look at what things like RTIC and embassy are doing I have to say its pretty appealing. Make programming the interrupt state machines a little nicer with async rust, and in RTIC's case without a chance of deadlocks. That's pretty stellar, and at a footprint and memory usage that is far lower than even the smallest RTOS can muster.