How async works with embassy is also interesting. In effect it works like a work queue, when something is waiting on a waker (interrupt) and is woken, the Future (task) is enqueued to be polled (run) by the executor.

There’s good and bad things about this. It’s clever for sure but there can be variable latency between when the hardware event occurs and when the next step in the task starts. This is a lot like zephyr/linux work queues but with linear reading code sprinkled with async/await.