Using indirection for faster message passing

Message passing always involves copying the payload from the sender into a static variable and then from the static variable into the receiver. Thus sending a large buffer, like a [u8; 128], as a message involves two expensive memcpys.

Indirection can minimize message passing overhead: instead of sending the buffer by value, one can send an owning pointer into the buffer.

One can use a global memory allocator to achieve indirection (alloc::Box, alloc::Rc, etc.), which requires using the nightly channel as of Rust v1.37.0, or one can use a statically allocated memory pool like heapless::Pool.

As this example of approach goes completely outside of RTIC resource model with shared and local the program would rely on the correctness of the memory allocator, in this case heapless::pool.

Here's an example where heapless::Pool is used to "box" buffers of 128 bytes.

{{#include ../../../../../rtic/examples/}}
$ cargo run --target thumbv7m-none-eabi --example pool