Surprise no one's mentioned yet that the firmware is written in Rust. As someone who's struggled with getting started with embedded Rust (the landscape seems to be changing quite a lot?) it looks like a good example.

Also it's a bit startling to see floating-point code used so freely. Shows how rapidly the capabilities of MCUs have developed. 15 years ago, doing floating point on a microcontroller would be unspeakable /s

Yeah embassy has improved tons recently. This is because embedded Rust is receiving a lot of investment from industry, embedded engineers desperately want a real C alternative there.