In Rust there is https://embassy.dev which is an async Rust framework for embedded. It has been shipping in products for years. Can be made real-time (for some definitions of it).
There is also RTIC https://rtic.rs which is a concurrency framework for real-time systems using interrupts. IIRC the car industry is interested in it.
There is also RTIC https://rtic.rs which is a concurrency framework for real-time systems using interrupts. IIRC the car industry is interested in it.