Looks really nice. How do you find the low-level peripheral stuff? Past experiences have taught me to trust Atmel&#x27;s data sheets and examples way more than the ST or NXP ones, but that&#x27;s been on simpler chips&#x2F;projects, so I don&#x27;t know if it carries over to here.<p>Also, is there an easy way to have an isolated realtime component, eg closed loop controller for motor drive? Could you just set up a hardware timer interrupt that preempts the kernel?