The Move to Memory-Safe Programming
spectrum.ieee.org
spectrum.ieee.org
You have libraries and support for peripherals. I know TockOS has support for them.
I did as well, but once you write a low level driver for the nth time you kind of get sick of it and just want to build shit.
I was just playing with the very opposite of that idea recently actually, setting the peripheral configuration through a taylored bytecode. Should be portable, debuggable with the right infrastructure, statically analyzable and more easily external tool generatable. Maybe blasphemous for embedded programmers.
Try to find a specific vulnerability class which actually has a chance of getting more likely if you move from C to Rust.