ARTe: Providing real-time multitasking to Arduino

In the last decade, thanks to its modular hardware and straightforward programming model, the Arduino ecosystem became a reference for learning the development of embedded systems by various users, ranging from amateurs and students to makers. However, while the latest released platforms are equipped with modern microcontrollers, the programming model is still tied to a single-threaded, legacy approach. This limits the exploitation of the underlying hardware platform and poses limitations in new application scenarios, such as IoT and UAVs.