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Help learning low-level dev
(lemmy.dbzer0.com)
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This is also my recommendation. Working with an OS on an SBC is fine but won't give you the fundamentals like this.
The PIC family of micros are also great. I also recommended trying a few assembly programs to get a feel for those induction sets.
Oh that reminds me. I wouldn't recommend PIC in the 21st century but there's a really cool project called BIO that is an open source alternative to Raspberry's PIO (programmable IO). It's RV32-E with custom x16-31 registers that control the pins directly. Very neat idea.
It's by Bunnies Huang and he talks about it in this talk about Xous.
The hardware is (or will be) here: https://www.crowdsupply.com/baochip
May be a bit hardcore for a beginner though.