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Kinemetric open-sources its low-latency servo firmware
1 min
Rust-based control loop running at 4 kHz on off-the-shelf MCUs.
Kinemetric published the firmware that runs its servo controllers, a Rust control loop hitting 4 kHz on off-the-shelf STM32 microcontrollers.
Highlights
- Deterministic
no_stdcore with zero heap allocation in the hot path - Field-oriented control with automatic motor parameter identification
- CAN-FD and EtherCAT transports behind a common trait
The team says opening the firmware was a customer request: "Integrators want to audit what runs inside the joint."
The repository is live on GitHub under MIT/Apache dual license, and the maintainers are already triaging outside pull requests.