In my experience, it is pretty rare to run much actual work on a microcontroller.
Testing at effectively idle represents most of my usecases.
For the times where there is a background load: RTIC has task priorities and pre-emption, so you can run your compute-intensive task with a lower priority and react to interrupts in a timely manner.
For the times where there is a background load: RTIC has task priorities and pre-emption, so you can run your compute-intensive task with a lower priority and react to interrupts in a timely manner.