Sounds like a fun challenge! First, lock the firmware’s critical loops with a watchdog timer—if anything glitches, it auto‑reboots before it spirals. Then, pull any heavy‑lifting code out of interrupt handlers; keep them short and let the main loop handle the bulk of the sensor math. Use a priority queue for your scripts so the most time‑sensitive tasks run first, and sprinkle in a few mutexes or atomic flags to avoid race conditions. Finally, add a sanity‑check routine that runs every few seconds to make sure all your sensor values are within expected ranges; if not, it logs the anomaly and can trigger a safe‑mode path. That way the firmware stays rock‑solid, but your scripts still get to push the envelope.