This repository shows an example of running a control system on a microcontroller. The actual example code is in the Pipit repository, this repository is really just about integration with the hardware.
Unfortunately, the requirements for building this are pretty heavy. To build it, you need to install Zephyr for the microcontroller cross-compiler and drivers, F* and Karamel for generating C code, as well as Pipit for the controller itself.
The C code for the controller was generated from the pipit repository by running make extract-c in the extract subdirectory.
I ran something like:
pushd $PIPIT/extract; make extract-c; popd
cp $PIPIT/extract/gen/*.[ch] gen
Karamel, which performs the extraction from F* to C, has its own runtime support library. We need to reuse it. I did this by building karamel from source and then symlinking the library here, for example:
ln -s $FSTAR/karamel/include rts/include
ln -s $FSTAR/karamel/krmllib/dist/ rts/dist
Install Zephyr