In my experience most nontrivial firmware is written using cooperative multi-tasking. The first thing I do on encountering a new platform is to write a scheduler so I can actually use it without having to write spaghetti code.
Thankfully @pfalcon has written an excellent one for us
uasyncio and SIM800 UART
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Re: uasyncio and SIM800 UART
Peter Hinch
Index to my micropython libraries.
Index to my micropython libraries.