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Firmware for the board follows the [automatakit](https://gitlab.cba.mit.edu/jakeread/automatakit) architecture, and is available here for perusal.
Communication is handled asynchronously: bytes received on the UART are loaded into a ringbuffer, where they are later parsed in to packets. Parsing happens as oven as possible.
Two hardware timers run step timing, one fires every time a step is to be taken, and another fires when acceleration needs to happen, the 2nd timer changes the period of the 1st.
## Current Problems
- step-delay on first step causing issues?
- trinamic fiddling... need different sense resistors?