[Arch-TK]

I'm writing firmware for my espresso machine in Rust right now and I was also pretty blown away at how easy it is. I am writing code across two micro-controllers (I'm re-using existing hardware) and I am using no-std RTIC2+Embassy on an STM32 inside machine and std Embassy on a ESP32-S3 on the outside of the machine. I don't know C++ (although C++ for embedded would probably have been fine, except I don't like C++ anyway) and it would have been a lot more work to get this working in C.

Using Rust I get so many static guarantees that it makes it trivial to get things working. And things have matured a lot since the last time I checked about a year ago.

Things are still a bit rough, for example I am maintaining my own version of embassy-stm32 so I can make a few things work the way I want to, but it's not really a problem for an embedded project.

Developing rust for xtensa is also a bit painful at times, but it still beats writing C or C++.

Moreover, RTIC2 allows me to write high performance real time code the way I would have written it in C with a mountain of boilerplate removed from sight just down to the way async works in rust as well as the things RTIC handles.

[gregoryw3]

Just wondering why you decided to use Embassy and RTIC? Was there any specific reasons? I’m doing an Embassy project on an esp right now so wondering if you have any issues or insights worth mentioning?

From my understanding Embassy and RTIC are two different models of concurrency so I’m not sure of any benefit of using both at the same time.

[Arch-TK]

So, on the STM32 (which is the only place I am using RTIC), I don't use the Embassy executor. I just use the embassy-stm32 hal crate for all my peripherals and embassy-futures for some of the executor-agnostic no_std and non-alloc futures utilities.

A lot of embassy (except quite unsurprisingly, the executor) is executor agnostic. In fact, I think it might be _all_ of embassy that is executor agnostic. There's some information here: https://rtic.rs/dev/book/en/rtic_and_embassy.html

While my code is not public yet, here is an example (written by someone else) of STM32 code using the embassy-stm32 I2C peripheral wrapper with RTIC:

https://github.com/andresv/rtic_arbiter_demo/blob/master/src...

[gregoryw3]

Interesting! Thanks for sharing, Rust always seems to have something new to learn.