Embassy can (these days, not sure if this is more recent than the article) do preemption, but it works by setting up multiple task pools and executors for each

Embassy can (these days, not sure if this is more recent than the article) do preemption, but it works by setting up multiple task pools and executors for each priority level: https://docs.embassy.dev/embassy-executor/git/cortex-m/struct.InterruptExecutor.html https://docs.embassy.dev/embassy-executor/git/cortex-m/struc... Non-realtime compute heavy tasks can be processed in the background executor and interrupted by latency sensitive ones.