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You can try using Cxx to interop with C++ from Rust.
The official Discovery Book is a great start! Make sure to choose the latest (microbit) version, as it uses the latest tooling. I was able to easily follow the book even though I used an stm32f4 mcu. Make sure to check out RTIC and embassy. There are also 2 more advanced books - The Embedded Rust Book and The Embedonomicon.
As for documentation on low level stuff, it's not there but there are "hidden gems". E.g. something like https://github.com/riscv-rust/riscv-rust-quickstart although it is board specific. It'd be nice of we could come up with something more generic for these.