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RTIC lets you do this safely. The ingredient you need to do this in a sound way at no cost is control over the application's entry point. That way, you can guarantee that your code only runs once, and (unsafely) take a mutable reference to a static mut. That's what RTIC does (and it hides the unsafe behind a safe API). It also does a lot more to allow safe and cheap resource sharing and message passing across nested interrupts.
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.