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I've used RTIC in a few cases. In practice, it's a thin wrapper over interrupt handlers and locks on resources in them. These days, I prefer using macros to simplify the (natively onerous: many <> brackets with Mutex, RefCell etc.!) locking and initialization of global variables.

It also has software tasks, which is presumably the Embassy tie-in you mention.

It's very small and focused, but it fits in places Embassy can't. It reminds me in some ways of coroutines, but it can preempt.

The data-sharing maybe could be nicer, but I do think it's an improvement over C -- you get the ability to do things that you might otherwise need something much bigger like Zephyr for.

So can Embassy -- look at InterruptExecutor.

It can, but adds some caveats that rtic does not have like dead locking.

>it can use your interrupt controller as a scheduler

Isnt' that how schedulers always work?